t2r3_payload_s2r1 = { 'payload_com': [0.06577595, 0.00058848, 0.00757901], 'payload_inertia': [0.00052085, 0.00000700, 0.00016131, 0.00182462, 0.00000010, 0.00149477], 'payload_mass': 0.289 } t2r3_dynamatics_a2r3_right = copy.deepcopy(t2r3_dynamatics_a2r3_right) t2r3_dynamatics_a2r3_right_s2r1 = copy.deepcopy(t2r3_dynamatics_a2r3_right) t2r3_dynamatics_bimanual_a2r3 = copy.deepcopy(t2r3_dynamatics_bimanual_a2r3) t2r3_dynamatics_bimanual_a2r3_s2r1 = copy.deepcopy( t2r3_dynamatics_bimanual_a2r3) ct.set_payload(t2r3_dynamatics_a2r3_right, t2r3_payload_none) ct.set_payload(t2r3_dynamatics_a2r3_right_s2r1, t2r3_payload_s2r1) ct.set_payload(t2r3_dynamatics_bimanual_a2r3, t2r3_payload_none) ct.set_payload(t2r3_dynamatics_bimanual_a2r3_s2r1, t2r3_payload_s2r1) # ########################## T2.R3 ######################################## config_full_t2r3 = { 'actuator_ec': [config_torso_t2r3_actuator_ec_j0, config_torso_t2r3_actuator_ec_j1], 'actuator': [config_torso_t2r3_actuator_j0, config_torso_t2r3_actuator_j1], 'joint': [ config_torso_t2r3_joint_j0, config_torso_t2r3_joint_j1, config_torso_t2r3_joint_j2, ],
'payload_mass': 0.0 } #Inertia: Ixx, Ixy, Ixz, Iyy, Iyz, Izz a1r1_payload_none = { 'payload_com': [0.0, 0.0, 0.0], 'payload_inertia': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'payload_mass': 0.0 } #Graspers w/FTS a1r1_dynamatics_right_h2r3_fts = copy.deepcopy(a1r1_dynamatics_right_arm) a1r1_dynamatics_left_h2r3_fts = copy.deepcopy(a1r1_dynamatics_left_arm) a1r1_dynamatics_right_g1r1_fts = copy.deepcopy(a1r1_dynamatics_right_arm) a1r1_dynamatics_left_g1r1_fts = copy.deepcopy(a1r1_dynamatics_left_arm) ct.set_payload(a1r1_dynamatics_right_h2r3_fts, a1r1_payload_right_h2r3_fts) ct.set_payload(a1r1_dynamatics_left_h2r3_fts, a1r1_payload_left_h2r3_fts) ct.set_payload(a1r1_dynamatics_right_g1r1_fts, a1r1_payload_g1r1_fts) ct.set_payload(a1r1_dynamatics_left_g1r1_fts, a1r1_payload_g1r1_fts) #Graspers w/o FTS a1r1_dynamatics_right_h2r3 = copy.deepcopy(a1r1_dynamatics_right_arm) a1r1_dynamatics_left_h2r3 = copy.deepcopy(a1r1_dynamatics_left_arm) a1r1_dynamatics_right_g1r1 = copy.deepcopy(a1r1_dynamatics_right_arm) a1r1_dynamatics_left_g1r1 = copy.deepcopy(a1r1_dynamatics_left_arm) ct.set_payload(a1r1_dynamatics_right_h2r3, a1r1_payload_right_h2r3) ct.set_payload(a1r1_dynamatics_left_h2r3, a1r1_payload_left_h2r3) ct.set_payload(a1r1_dynamatics_right_g1r1, a1r1_payload_g1r1) ct.set_payload(a1r1_dynamatics_left_g1r1, a1r1_payload_g1r1) #No Grasper
'payload_mass': 0.0 } t2r3_payload_s2r1={ 'payload_com': [0.06577595, 0.00058848, 0.00757901], 'payload_inertia': [0.00052085, 0.00000700, 0.00016131, 0.00182462, 0.00000010, 0.00149477], 'payload_mass': 0.289 } t2r3_dynamatics_a2r3_right=copy.deepcopy(t2r3_dynamatics_a2r3_right) t2r3_dynamatics_a2r3_right_s2r1=copy.deepcopy(t2r3_dynamatics_a2r3_right) t2r3_dynamatics_bimanual_a2r3=copy.deepcopy(t2r3_dynamatics_bimanual_a2r3) t2r3_dynamatics_bimanual_a2r3_s2r1=copy.deepcopy(t2r3_dynamatics_bimanual_a2r3) ct.set_payload(t2r3_dynamatics_a2r3_right, t2r3_payload_none) ct.set_payload(t2r3_dynamatics_a2r3_right_s2r1, t2r3_payload_s2r1) ct.set_payload(t2r3_dynamatics_bimanual_a2r3, t2r3_payload_none) ct.set_payload(t2r3_dynamatics_bimanual_a2r3_s2r1, t2r3_payload_s2r1) # ########################## T2.R3 ######################################## config_full_t2r3={'actuator_ec':[config_torso_t2r3_actuator_ec_j0, config_torso_t2r3_actuator_ec_j1], 'actuator':[config_torso_t2r3_actuator_j0, config_torso_t2r3_actuator_j1], 'joint':[config_torso_t2r3_joint_j0, config_torso_t2r3_joint_j1, config_torso_t2r3_joint_j2,], 'dynamatics':{'a2r3_right':t2r3_dynamatics_a2r3_right, 'a2r3_right_s2r1':t2r3_dynamatics_a2r3_right_s2r1,
'payload_mass': 0.0 } #Inertia: Ixx, Ixy, Ixz, Iyy, Iyz, Izz a2r2_payload_none={ 'payload_com': [0.0, 0.0, 0.0], 'payload_inertia': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'payload_mass': 0.0 } #Graspers w/FTS a2r2_dynamatics_right_h2r2_fts=copy.deepcopy(a2r2_dynamatics_right_arm) a2r2_dynamatics_left_h2r2_fts=copy.deepcopy(a2r2_dynamatics_left_arm) a2r2_dynamatics_right_g1r1_fts=copy.deepcopy(a2r2_dynamatics_right_arm) a2r2_dynamatics_left_g1r1_fts=copy.deepcopy(a2r2_dynamatics_left_arm) ct.set_payload(a2r2_dynamatics_right_h2r2_fts, a2r2_payload_right_h2r2_fts) ct.set_payload(a2r2_dynamatics_left_h2r2_fts, a2r2_payload_left_h2r2_fts) ct.set_payload(a2r2_dynamatics_right_g1r1_fts, a2r2_payload_g1r1_fts) ct.set_payload(a2r2_dynamatics_left_g1r1_fts, a2r2_payload_g1r1_fts) #Graspers w/o FTS a2r2_dynamatics_right_h2r2=copy.deepcopy(a2r2_dynamatics_right_arm) a2r2_dynamatics_left_h2r2=copy.deepcopy(a2r2_dynamatics_left_arm) a2r2_dynamatics_right_g1r1=copy.deepcopy(a2r2_dynamatics_right_arm) a2r2_dynamatics_left_g1r1=copy.deepcopy(a2r2_dynamatics_left_arm) ct.set_payload(a2r2_dynamatics_right_h2r2, a2r2_payload_right_h2r2) ct.set_payload(a2r2_dynamatics_left_h2r2, a2r2_payload_left_h2r2) ct.set_payload(a2r2_dynamatics_right_g1r1, a2r2_payload_g1r1) ct.set_payload(a2r2_dynamatics_left_g1r1, a2r2_payload_g1r1) #No Grasper
], # 'payload_mass': 0.834 # } #Inertia: Ixx, Ixy, Ixz, Iyy, Iyz, Izz a2r4_payload_none = { 'payload_com': [0.0, 0.0, 0.0], 'payload_inertia': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'payload_mass': 0.0 } #Graspers w/FTS a2r4_dynamatics_right_h2R4_fts = copy.deepcopy(a2r4_dynamatics_right_arm) a2r4_dynamatics_left_h2R4_fts = copy.deepcopy(a2r4_dynamatics_left_arm) ct.set_payload(a2r4_dynamatics_right_h2R4_fts, a2r4_payload_right_h2R4_fts) ct.set_payload(a2r4_dynamatics_left_h2R4_fts, a2r4_payload_left_h2R4_fts) #Graspers w/o FTS a2r4_dynamatics_right_h2R4 = copy.deepcopy(a2r4_dynamatics_right_arm) a2r4_dynamatics_left_h2R4 = copy.deepcopy(a2r4_dynamatics_left_arm) ct.set_payload(a2r4_dynamatics_right_h2R4, a2r4_payload_right_h2R4) ct.set_payload(a2r4_dynamatics_left_h2R4, a2r4_payload_left_h2R4) #No Grasper a2r4_dynamatics_right = copy.deepcopy(a2r4_dynamatics_right_arm) a2r4_dynamatics_left = copy.deepcopy(a2r4_dynamatics_left_arm) ct.set_payload(a2r4_dynamatics_right, a2r4_payload_none) ct.set_payload(a2r4_dynamatics_left, a2r4_payload_none) # ########################## A2.R4 ########################################
'payload_mass': 0.0 } #Inertia: Ixx, Ixy, Ixz, Iyy, Iyz, Izz a1r1_payload_none={ 'payload_com': [0.0, 0.0, 0.0], 'payload_inertia': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'payload_mass': 0.0 } #Graspers w/FTS a1r1_dynamatics_right_h2r3_fts=copy.deepcopy(a1r1_dynamatics_right_arm) a1r1_dynamatics_left_h2r3_fts=copy.deepcopy(a1r1_dynamatics_left_arm) a1r1_dynamatics_right_g1r1_fts=copy.deepcopy(a1r1_dynamatics_right_arm) a1r1_dynamatics_left_g1r1_fts=copy.deepcopy(a1r1_dynamatics_left_arm) ct.set_payload(a1r1_dynamatics_right_h2r3_fts, a1r1_payload_right_h2r3_fts) ct.set_payload(a1r1_dynamatics_left_h2r3_fts, a1r1_payload_left_h2r3_fts) ct.set_payload(a1r1_dynamatics_right_g1r1_fts, a1r1_payload_g1r1_fts) ct.set_payload(a1r1_dynamatics_left_g1r1_fts, a1r1_payload_g1r1_fts) #Graspers w/o FTS a1r1_dynamatics_right_h2r3=copy.deepcopy(a1r1_dynamatics_right_arm) a1r1_dynamatics_left_h2r3=copy.deepcopy(a1r1_dynamatics_left_arm) a1r1_dynamatics_right_g1r1=copy.deepcopy(a1r1_dynamatics_right_arm) a1r1_dynamatics_left_g1r1=copy.deepcopy(a1r1_dynamatics_left_arm) ct.set_payload(a1r1_dynamatics_right_h2r3, a1r1_payload_right_h2r3) ct.set_payload(a1r1_dynamatics_left_h2r3, a1r1_payload_left_h2r3) ct.set_payload(a1r1_dynamatics_right_g1r1, a1r1_payload_g1r1) ct.set_payload(a1r1_dynamatics_left_g1r1, a1r1_payload_g1r1) #No Grasper
0.00007973,# 0.00081578],# 'payload_mass': 0.834# } #Inertia: Ixx, Ixy, Ixz, Iyy, Iyz, Izz a2r4_payload_none={ 'payload_com': [0.0, 0.0, 0.0], 'payload_inertia': [0.0, 0.0, 0.0, 0.0, 0.0, 0.0], 'payload_mass': 0.0 } #Graspers w/FTS a2r4_dynamatics_right_h2R4_fts=copy.deepcopy(a2r4_dynamatics_right_arm) a2r4_dynamatics_left_h2R4_fts=copy.deepcopy(a2r4_dynamatics_left_arm) ct.set_payload(a2r4_dynamatics_right_h2R4_fts, a2r4_payload_right_h2R4_fts) ct.set_payload(a2r4_dynamatics_left_h2R4_fts, a2r4_payload_left_h2R4_fts) #Graspers w/o FTS a2r4_dynamatics_right_h2R4=copy.deepcopy(a2r4_dynamatics_right_arm) a2r4_dynamatics_left_h2R4=copy.deepcopy(a2r4_dynamatics_left_arm) ct.set_payload(a2r4_dynamatics_right_h2R4, a2r4_payload_right_h2R4) ct.set_payload(a2r4_dynamatics_left_h2R4, a2r4_payload_left_h2R4) #No Grasper a2r4_dynamatics_right=copy.deepcopy(a2r4_dynamatics_right_arm) a2r4_dynamatics_left=copy.deepcopy(a2r4_dynamatics_left_arm) ct.set_payload(a2r4_dynamatics_right, a2r4_payload_none) ct.set_payload(a2r4_dynamatics_left, a2r4_payload_none) # ########################## A2.R4 ########################################