TODO

TODO:

[x] edit xacro to reflect right hand geometry
[x] add meshes to xacro
[x] change package name allegro_hand_urdf -> allegro_hand_description
[ ] edit all launchers to load new urdf based on left vs. right
[ ] Left hand URDF
[ ] add trigger callback to update gains, intial pose (or pose), max velocity


EDIT ALL CONTROLLER FILES THAT PRINT HAND DATA TO:
	string robot_name, whichHand, manufacturer, origin, serial;
	double version;
	ros::param::get("~hand_info/robot_name",robot_name);
	ros::param::get("~hand_info/which_hand",whichHand);
	ros::param::get("~hand_info/manufacturer",manufacturer);
	ros::param::get("~hand_info/origin",origin);
	ros::param::get("~hand_info/serial",serial);
	ros::param::get("~hand_info/version",version);
	
HAVE One launcher and inputs of controller and hand (r/l)	


FILTERED DATA OUTPUT INSTEAD OF RAW
ALL ALGORITHMS OUTPUT DESIRED POSITION AND CURRENT POSITION
 DESIRED VELOCITY AND CURRENT VELOCITY
  DESIRED TORQUE, LOOP TIME
  
  SLEEP TEMPLATE