| asset_path: /home/agnel/unitree/github/unitree_ros/robots/h1_2_description/h1_2_handless.urdf |
| usd_dir: /home/agnel/unitree/github/unitree_ros/robots/h1_2_description/h1_2_handless |
| usd_file_name: null |
| force_usd_conversion: false |
| make_instanceable: true |
| fix_base: false |
| root_link_name: null |
| link_density: 0.0 |
| merge_fixed_joints: true |
| convert_mimic_joints_to_normal_joints: false |
| joint_drive: |
| drive_type: force |
| target_type: position |
| gains: |
| stiffness: null |
| damping: null |
| collider_type: convex_hull |
| self_collision: true |
| replace_cylinders_with_capsules: false |
| collision_from_visuals: false |
| func: isaaclab.sim.spawners.from_files.from_files:spawn_from_urdf |
| visible: true |
| semantic_tags: null |
| copy_from_source: true |
| mass_props: null |
| deformable_props: null |
| rigid_props: |
| rigid_body_enabled: null |
| kinematic_enabled: null |
| disable_gravity: false |
| linear_damping: 0.0 |
| angular_damping: 0.0 |
| max_linear_velocity: 100.0 |
| max_angular_velocity: 100.0 |
| max_depenetration_velocity: 1.0 |
| max_contact_impulse: null |
| enable_gyroscopic_forces: null |
| retain_accelerations: false |
| solver_position_iteration_count: null |
| solver_velocity_iteration_count: null |
| sleep_threshold: null |
| stabilization_threshold: null |
| collision_props: null |
| activate_contact_sensors: true |
| scale: null |
| articulation_props: |
| articulation_enabled: null |
| enabled_self_collisions: true |
| solver_position_iteration_count: 4 |
| solver_velocity_iteration_count: 0 |
| sleep_threshold: null |
| stabilization_threshold: null |
| fix_root_link: null |
| fixed_tendons_props: null |
| spatial_tendons_props: null |
| joint_drive_props: null |
| visual_material_path: material |
| visual_material: null |
| |
| |
| |
|
|
