Allegro hand rrt global

pangtao22 / planning_through_contact

MIT License

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Closed lujieyang closed 2 years ago

lujieyang commented 2 years ago

First pass on allegro hand rrt global. Still need to fix:

extend_towards_q: mapping from quaternion dot to angular velocity
dash_allegro_tree_vis.py: set the meshcat to 3D visualization, change ellipsoid calculation

This change is

hjsuh94 commented 2 years ago

@pangtao22 let's also merge this one before merging the trajopt PR!