ANYmal is ANYbotics’ four-legged inspection robot, built to walk autonomous routes through industrial sites — oil and gas platforms, chemical plants, power stations — reading gauges, listening for leaks, and flagging thermal anomalies in places that are inconvenient or unsafe to send a person on a fixed schedule. This description covers ANYmal D, the current production generation.
The mechanism
Each of the four legs carries three actuated joints — hip abduction/adduction (HAA), hip flexion/extension (HFE), and knee flexion/extension (KFE) — the same layout Boston Dynamics’ Spot uses, giving twelve degrees of freedom for locomotion. On top of that, ANYmal D carries a two-axis pan/tilt head for its inspection payload (camera and sensor package), bringing the model in this description to fourteen actuated joints in total. All fourteen are plain revolute joints on open serial chains — no mimic-driven joints, no closed kinematic loops for URDF to approximate — so the numbers on this page are a direct, unadjusted read of the URDF.
About this file
This links directly to the official anymal_d_simple_description repository, which is where ANYbotics publishes ANYmal D’s URDF. It is the “simple” description — visual meshes, collision geometry, and mass/inertia are all present, but the extended description with full simulation and control software is member-only, available through the ANYmal Research community. ARMOR links to the public repository rather than re-hosting anything, so what you get is exactly what ANYbotics publishes, unmodified.
Every mesh is COLLADA (.dae) with a paired texture image, so the model renders with real
material color rather than flat per-link tints — matching the grey-and-blue look of the
physical robot.
