Add allegro hand - Githubissues

facebookresearch / differentiable-robot-model

We are implementing differentiable models of robot manipulators, which allows us to learn typically assumed to be known models of robots for control and motion planning.

MIT License

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Add allegro hand #6

Closed exhaustin closed 3 years ago

exhaustin commented 3 years ago

Changes

Add allegro urdf and mesh files from fair-robotics/core
Create an urdf that combines kuka iiwa7 and allegro hand
Add test for allegro hand
Fix various issues to allow the differentiable robot model to work with kinematic trees, arbitrary joint axes, and zero mass links

Notes:

The official allegro hand urdf contains matrices that PyBullet would not parse. Off-diagonal elements were set to zero in the included version to resolve this.

fmeier commented 3 years ago

looks great! thanks :)