[Question] Actuator and model parameters for Unitree D1 arm

[Ashutosh781]

Question

I am trying to train a reach policy with the Unitree D1 arm with the reach_env setup in manipulation tasks. I have converted the URDF model to a USD file using Isaacsim. I am having difficulty figuring out the accurate actuator and model config parameters for the robot learning. Has anyone used this particular arm with the current IsaacLab setup and could point me to the correct setup and configurations for the robot?

[RandomOakForest]

Thank you for posting this. I'll move the topic to our Discussions for the team to follow up.