Lots of code was ported from [Eric's repo](https://github.com/EricCousineau-TRI/drake_sys_id) with this commit: https://github.com/nepfaff/robot_payload_id/commit/e53b895cffd8c72f62f7837d1e7bb48033dcbf91 All of this needs to be cleaned up!
Lots of code was ported from Eric's repo with this commit: e53b895
All of this needs to be cleaned up!