Taylor Howell

URDF parsing

2

Add functionality for parsing values: - joint limits - damping - friction (?) from URDF models, instead of adding post hoc in an environment.

change minimal state representation to: state = (configurations, velocities)

support for pick-and-place tasks - complementarity-based binary sticking behavior - compliance via spring and damper

nice method for (re)generating dynamics methods

This PR aims to improve installation instructions based on feedback from @vikashplus and this [blog post](https://qiita.com/sunrise_lover/items/58ea54a33ff5114cb8ef). Key changes: - Provide explicit steps for installing and running the C++ GUI application...

#275 @alberthli This PR adds functionality to load separate task/simulation, planner, and estimator models.

Set simulation state from Python API

1

Optionally, set the simulation state (`qpos`, `qvel`, `time`) via the Python API. Useful for visualizing state estimate in GUI during hardware in-the-loop testing.