| asset_path: /home/unitree/newDisk/URDF/urdf-to-usd/g1withdex1/g1_29dof_with_dex1_rev_1_0.urdf | |
| usd_dir: /home/unitree/newDisk/URDF/wholbody | |
| usd_file_name: g1_29dof_with_dex1_rev_1_0.usd | |
| 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: | |
| 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 | |
| ## | |
| # Generated by UrdfConverter on 2025-07-15 at 10:10:21. | |
| ## | |