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asset_path: /home/zy/workspace/genie_ws/install/share/genie_robot_description/urdf/G1/G1_omnipicker.urdf |
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|
usd_dir: /home/zy/assets/G1_omnipicker |
|
|
usd_file_name: G1_omnipicker |
|
|
force_usd_conversion: true |
|
|
make_instanceable: true |
|
|
fix_base: false |
|
|
root_link_name: null |
|
|
link_density: 0.0 |
|
|
merge_fixed_joints: false |
|
|
convert_mimic_joints_to_normal_joints: false |
|
|
joint_drive: |
|
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drive_type: force |
|
|
target_type: position |
|
|
gains: |
|
|
stiffness: 100.0 |
|
|
damping: 1.0 |
|
|
collider_type: convex_hull |
|
|
self_collision: false |
|
|
replace_cylinders_with_capsules: false |
|
|
collision_from_visuals: false |
|
|
|
|
|
|
|
|
|
|
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|
