Adapting Quadruped Examples to Different Robots

I am attempting to achieve a similar functionality to the quadruped examples.

I have imported my robot model and provided mass values for all rigid bodies, similar to the a1.usd model. However, I am not able to achieve a stable gate and instead the controller publishes very high torque values, resulting in the behaviour you can see in the video.

Any insight into how the quadruped control examples can be adapted to other robotic platforms would be greatly appreciated!

Python code: (7.3 KB)

Robot class: (14.5 KB)

Robot .usd:
spot_feet.usd (12.0 MB)