asset_path: /home/zy/workspace/genie_ws/install/share/genie_robot_description/urdf/G1/G1_120s.urdf
usd_dir: /home/zy/assets/G1_120s
usd_file_name: G1_120s
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 2025-05-21 at 12:18:42.
##