ANYmal-C

ANYmalCCfg configures the bundled 12-joint ANYmal-C quadruped, including its floating base, standing pose and simulation PD drive defaults.

ANYmal-C in the default joint pose

Usage

from embodichain.lab.sim import SimulationManager, SimulationManagerCfg
from embodichain_robots import ANYmalCCfg

sim = SimulationManager(SimulationManagerCfg(headless=True, num_envs=1))
cfg = ANYmalCCfg.from_dict({})
robot = sim.add_robot(cfg=cfg)

The catalog ID is also accepted by the shared preview command:

embodichain preview-robot --robot ANYmalC

Robot Configuration

Item	Default
Catalog ID / UID	ANYmalC
Configuration class	ANYmalCCfg
Canonical module	embodichain_robots.anybotics.anymal_c
Vendor	anybotics
Morphology	quadruped
Arm count	0
Asset	ANYmalCLocomotion/usd/anymal_c.usda
Control parts	locomotion: 12 joints
Base	Floating
Initial root height	0.6 m
Physics backends	Default and Newton
Limb IK solvers	None; build_pk_chain=False

Standard RobotCfg overrides, including joint_drive_props, are accepted by from_dict. Locomotion tasks preserve these explicit overrides.

See Also

• Shared locomotion defaults and render settings

• Locomotion robot API reference