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ANYbotics ANYmal C is a quadruped, made by ANYbotics. This model comes from MuJoCo Menagerie by Google DeepMind, under the BSD-3-Clause licence. Not made by Lucen Robotics. Listed as a reference model for simulation.

quadruped12 joints45.0 kg in simulation50 Hz

Use it from Python

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The same download from a script or a notebook.

from lucen import Hub

hub = Hub()
hub.pull("lucen/anymal-c", "./anymal-c")

The module comes with the CLI. Python guide.

ANYbotics ANYmal C, standing in its home pose

Move its joints, or let it fall under gravity, in your browser. About 10 MB the first time. Open the full simulator

README

README.md

ANYbotics ANYmal C

ANYbotics ANYmal C is a quadruped, made by ANYbotics. This model comes from MuJoCo Menagerie by Google DeepMind, under the BSD-3-Clause licence. The licence text is in LICENSE.

Not made by Lucen Robotics. Listed as a reference model for simulation.

The source's own README is kept unchanged as SOURCE_README.md.

How it was set up

The files come from anybotics_anymal_c in MuJoCo Menagerie, at commit 822c2d8. The robot card was drafted from the model by lucen robot init, as in Add your robot.

The model file does not state the values below. Each one comes from the source beside it.

SettingValueWhere it comes from
Control rate50 Hzlegged_gym legged_robot_config.py: decimation 4 x sim dt 0.005 s (anymal_c_rough_config.py keeps both)
Actionoffset from the default poselegged_gym's action: default joint angle + action_scale x action
Action scale0.5legged_gym anymal_c_rough_config.py action_scale = 0.5
What a policy sensesjoint positions, joint velocities, base angular velocity, gravity directionANYmal's joint encoders and IMU
Commandforward, sideways and turning speedlegged_gym's commands: lin_vel_x, lin_vel_y, ang_vel_yaw
Everything elseread from the model filejoint order, qpos0 as the default pose (the model has no keyframe), and kp 100 / force limit 80 N·m from the MJCF's own <position> actuators (legged_gym trains ANYmal C through an actuator network instead).

The configs cited above, at the commits read:

No file from the source was changed. This README, the robot card and the robot's pictures are new.