Issues with Tilting Forward and Inconsistent Leg Angles When Porting Library to a Different Robot

[honghongzhenbang]

I'm porting this library to another robot and would like to ask for help in understanding why this robot has a tendency to tilt forward and why the angles of the front and rear legs are inconsistent. In my xacro file, the front and rear legs are identical except for the direction, and the info file configuration in the controller is the same. The center of mass of the robot's torso is also centered. Any help is appreciated.

Uploading 无标题视频——使用Clipchamp制作.mp4…

[honghongzhenbang]

Clipchamp.mp4