ANYmal Pair

Overview

Runs two ANYmal variants (B and C) with PD control in a world scene. This example is a compact reference for loading multiple quadruped URDFs and visualizing them through RaisimServer.

Screenshot

anymal_pair example

Binary

Installed executable: anymal_pair.

Run

Run the installed executable:

<raisim-install>/bin/anymal_pair

On Windows, run anymal_pair.exe instead. This example uses RaisimServer. Start the rayrai TCP viewer and connect to port 8080. RaisimUnity and RaisimUnreal are no longer supported.

Details

  • Loads ANYmal B and C URDFs and applies PD targets for all leg joints.

  • Uses a checkerboard ground and focuses on anymalC.

  • Runs the world through the standard RaisimServer object stream.