As per the damping/viscous coefficients and static friction constants, in my experience they vary between modules even of the same type, and can change over time as they get dirty or worn in. I think its also impacted by really small tolerances in the gears, which change as they wear down. I've seen...

I am trying to see what, if any, ways there are to automatically discover the connectivity of the modules. This would make it so I wouldn't need to hand-code all the module serial numbers in the code. For example, if I have a chain of them, and I can see them all on the network, is there any way to ...