included Manas's work
Major overhaul of IU data parser and playback using numpy
Further tweaks to get the transform working
Added physics playback with sample motion
Small bugfixes and file reorganization
Renamed q_path file to be clearer
Added full step trajectory and tweaked, but getting foot placement failure
Fixed to autogenerate ladder each time to ensure that ladder and env matches params
bugfix on playback function
Hitting joint and collision limits due to shells
Fixed trajectory playback
Added optimistic maximum finger torque and finger limits
Small tweaks to ladder rung spacing to line up hands
Major overhaul with measurements added
fixed limits on no-shell model to show improvements over stock joint angles
Added grip tests
Added fake finger limits to probe maxtorque issue
Figured out finger settings
Working openmr custom gains
Hacking in hand torque