How can i remove the acutator model of the ANYdrive motors in the simulation?

In the RL example “Anymal C” , if i replaced the Anymal C urdf model with another quadruped robot urdf model,
whether there is an ANYdrive motors(SEA module?) model that i need to remove?

I didn’t see anything related to the SEA module, they have trained a NN model for modeling their motors as I remember, but inside the config file there are a few parameters related to the control modes and applying torques to the joints, you can simply change them to what you want.