Robot from customized usd file facing unrealistic physics simulation

[Virlus]

I customized a quadruped+arm robot from a usd file derived by incorporating the Franka robot into the Anymal robot. Both Franka and Anymal usd files are downloaded from Omniverse official. However, when I replace the Anymal Robot with this brand-new robot in the AnymalTerrain task, the robot seems to suffer from unrealistic physics simulation process and starts floating nowhere.

Here is a demo of the current situation: demo.webm

What might be the cause? Is it a problem with our usd file or Physx parameters? Thanks!

[kellyguo11]

Hi there, it looks like it could be due to physics setup issues, but it is difficult to pinpoint. To debug the behaviour, you can try simulating the robot in the Isaac Sim app to make sure the simulation looks good before using it with RL.