Clarification on `armature` and `thickness` Parameters in `asset` Class

[breakds]

Hello,

I was reading the following code and came across two parameters: armature and thickness. Being relatively new to working with the underlying simulator, IsaacGym, I found myself in need of some clarification on these parameters, especially since I couldn't find substantial information on them online.

Here is the segment of the code I'm referring to:

    class asset(PrefixProto, cli=False):
        # ... (other parts of the code)
        armature = 0.
        thickness = 0.01

I have a few questions that I'm hoping you might be able to assist with:

1. Armature

   • Could you please elaborate on what the armature parameter signifies within this class?
   • How is this parameter utilized in the simulation process?
   • Why is the default value set to 0.0? How does this choice impact the simulation?

2. Thickness

   • Similarly, could you elucidate what the thickness parameter represents?
   • How does changing this value influence the behavior or performance of the simulation?
   • Why is the default value set to 0.01? How does this choice impact the simulation?

I would highly appreciate any assistance or insights you can provide to help me understand these parameters better. Please excuse me if my questions seem too basic; I'm still navigating my way around this simulator and I'm eager to learn more.

Thank you very much for your time!