problem about playing a trained policy in Isaac gym

[YechenZhou]

Dear team, I modified the Anymal task under IsaacGymEnvs/isaacgymenvs to get the snake robot task. I replaced the urdf file, the task configuration file, the training configuration file, and the task file. I have two questions. (1)The robot can move normally during training, but when I test the trained policy after training, then robot moves for a while and then stop moving. (2)Although the urdf file is verified by the dof_controls.py file, the robot joint constraints are broken when testing the trained policy. What is the reason?