ROBOT = "go2" # Robot name, "go2", "b2", "b2w", "h1" 
ROBOT_SCENE = "../unitree_robots/" + ROBOT + "/scene.xml" # Robot scene
DOMAIN_ID = 1 # Domain id
INTERFACE = "lo" # Interface 

PRINT_SCENE_INFORMATION = True # Print link, joint and sensors information of robot
ENABLE_ELASTIC_BAND = False # Virtual spring band, used for lifting h1

SIMULATE_DT = 0.003  # Need to be larger than the runtime of viewer.sync()
VIEWER_DT = 0.02  # 50 fps for viewer