Adding in a widowx250s and code for system identification

[edwhu]

Hello,

I'm interested in controlling a WidowX robot, both in simulation and real, with this library. Ideally, I would be able to control a WidowX in simulation using this library / mouse / keyboard, and also have a WidowX in real mimic the movements computed by this library.

Part of this step would be to perform some system identification of the WidowX robot, so that the movements of the sim and real robots are aligned. I saw in the ALOHA readme that you've performed some sys id, it would be helpful if you could share any scripts, or offer some guidance on how to do the sys id.