Documentation regarding joint and actuator parameters on ViperX 300 6DOF

[TyLindberg]

When trying to replicate the steps cited to generate vx300s.xml, I am unable to generate the kp, damping, armature, and frictionloss values that are found in the MJCF file in this repo. I was wondering if there were additional steps required to replicate those values, or if they were derived from other sources.

I very well could be missing a step in my conversion from xacro to URDF to MJCF, so I apologize in advance if that is the case.

[kevinzakka]

Hi @TyLindberg, those were obtained with a system identification pipeline done by @btaba. We're working on releasing that toolbox soon!