How to select the right environmental parameters?

[DINHQuangDung1999]

Hello everyone,

I have just started learning to use Warp, and to use physics simulator in general.
Quite frequently, I ended up in situations where my robot display weird physical interactions, e.g. bounced aggresively when touching ground or get pushed so far away for no reason. I attached below a *.usd file of one of my scenarios, which can be viewed with IsaacSim.

I have been struggling trying to find a systematic way to select a suitable collection of parameters for my environment (e.g. setting the density, armature, damping, etc) in the following command

        wp.sim.parse_urdf(
            os.path.join(self.asset_dir, "legged_gym/quadruped.urdf"),
            builder,
            xform=wp.transform([0.0, 0.75, 0.0], wp.quat_from_axis_angle(wp.vec3(1.0, 0.0, 0.0), -math.pi * 0.5)),
            floating=True,
            density=1000.0,
            armature=0.005,
            stiffness=85.0,
            damping=2.0,
            contact_ke=2.0e3,
            contact_kd=5.0e2,
            contact_kf=1.0e2,
            contact_mu=1.0,
            limit_ke=1.0e3,
            limit_kd=1.0e1,
        )

I have tried some reading too, yet it is leading me to no where. Can you help me with this?
Thank you very much!

QuadrupedDFlex_64.zip

[DINHQuangDung1999]

I notice that if the robot's legs are initialized incorrectly, e.g. having a part lying underground, then the model bounce aggresively upward, which is the most probable reason for my issue.