Training a custom urdf quadruped in place of anymal_d

Omniverse Isaac Sim
1

I’ve tried replacing the anymal_d with custom urdf of my own quadruped with different inertia’s and meshes,

  • The changes I made in urdf are different joint positions, joint axes and inertia matrix.
  • The expected outcome should be the policy should be changed according to the changes and follow the given command velocity.
  • Remaining code I didnot change.
  • whereas it is not able to stand on four legs, the fourth leg is never touching the ground.
    Can someone help?
2

I encountered a problem with my custom robot design where the shank couldn’t rotate properly due to collisions between the thigh and shank. This happened because I initially imported the robot with an inward knee configuration, similar to the Anymal robot. However, my robot’s design features an outward knee configuration. After correcting this, the rotation issue was resolved.