Controlling a Four-Legged Robot

I have a four-legged robot model as a STEP file that I’ve imported to Isaac Sim 2022.2.1, but I did not do anything else. I want to use Python to make the robot move forward without ROS, but I’m new to using Isaac Sim and need guidance on the necessary steps. I also have Visual Studio Code. Please provide guidance on how to proceed.
Thank you in advance!

Please see the quadruped extension: Quadruped — Omniverse Robotics documentation

I have some questions,
1- I want your guide to get the most benefit of it because it is somehow confusing,
2- The first thing I need to do is to add joints, right? And then what should I do?

Hi @meryanraad - Can you let us know about with what particular section you have question from the above documentation?