System Identification for the Damiao actuator #336
Description
Describe the feature you want
We are currently developing for the OpenArm a low-level controller for motion generation (GIK) using MINK.
We would like to get access to the system identification of the Damiao actuators (critical for sim2real).
Here are the parameters we need for our project :
- Kp, Kd gain
- motor armature
- motor joint friction (eg. friction loss in mujoco)
- motor damping value
- motor measured force range
We tried to find these values in the documentation and in the isaac sim repo, but we only found a global kp and a damping value.
Best regards,
Quentin.