ANYmal Document and SDK Collection

1.1. Structure

anymal_docs_sdk
├── README.md
├── docker                         # docker files
├── docs                           # documents
├── sdk/anymal-research-software   # anymal research software (only for whom has Anybotics account)

Tutorial list

Fast Search Document

1. Simple Record of Command
2. Hardware Connection
3. Software Connection
4. Apple VIO Data Collection Installation
5. Setup your own Simulation Environment
6. Hardware Purchase List
7. Run Program on Anymal for Real-World Tests

Development Pipeline

1. Take the training courses
2. Explore the usage of anymal software on the public operator PC
3. Install the operator GUI using the Anymal installer
   • Choose an organization: anymal-research-software if you are a research customer (including UCL).
   • Link to updating the release:

       sudo sh -c 'echo "deb [arch=amd64] https://packages-ros.anybotics.com/ros/release-24.02/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/any-ros.list' &&
       sudo sh -c 'echo "deb [arch=amd64] https://packages.anybotics.com/anymal-research-software/release-24.02/ubuntu $(lsb_release -sc) main" > /etc/apt/sources.list.d/anymal.list'
       sudo apt update
       sudo apt upgrade
       sudo apt autoremove
       sudo apt autoclean
     

     • Install simulation: sudo apt install ros-noetic-anymal-d-sim

Document

1. Operator manual of Anymal-D: pdf and online document.
2. Cheat sheet of Anymal-D: pdf.
3. Datasheet of Anymal-D: pdf.
4. Three-hour training course as an Anymal operator: pdf and online video.
   • Page 12-13: system overview
   • Page 14: hardware interfaces
   • 
   • 
5. Demo of introducing Anymal: online video.

Courses

1. ETH-Marco Hutter Robot Dynamics HS2021

Codebase (Please click the name to visit the website)

1. Anybotics Anymal Research

   • Anymal research software stack
   • Anymal code examples for industrial applications

2. RSL Anymal Research

   • Mapping:
     • Elevation Mapping-Cuda
     • Neural-Based Elevation Mapping
   • Planning:
     • ArtPlanner: Sampling based path planning for ANYmal, based on 2.5D height maps using learned motion cost.

ANYbotics Contact Person

1. Global Research Community Manager -- Benjamin Mottis