Trained custom urdf with "Isaac-Velocity-Flat-Anymal-D-v0" environment to replicate Anymal behavior

[anirudh.pydah]

I’ve trained a custom robot with an outward knee configuration in the ‘Isaac-Velocity-Flat-Anymal-D-v0’ environment. After 1000 iterations, the robot walks smoothly in all directions. However, the rear legs exhibit different motion patterns compared to the front legs. The joint positions and velocities aren’t consistent, resulting in variations in the gait. How can I achieve a more synchronized gait motion in this RL environment?"