Rashi on Numbers 13:3/רש"י על במדבר י״ג:ג׳

1'על פי ה With His consent; i.e. that He did not prevent him from doing so. ...

2כלם אנשים ALL OF THEM WERE MEN — Wherever the term אנשים, “men”, is used in Scripture it is a term denoting worthiness. These men, [though they later sinned] but at that time [when they were appointed] they were worthy men.