# Anymal C Robot UID: `anymal_c` Agent Class Code: [https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/anymal/anymal_c.py](https://github.com/haosulab/ManiSkill/blob/main/mani_skill/agents/robots/anymal/anymal_c.py) Quality: B (Stable, but some values are unrealistic) Degrees of Freedom: 12 Controllers: `pd_joint_delta_pos`, `pd_joint_pos` ## Visuals and Collision Models
anymal_c anymal_c

Visual Meshes


anymal_c anymal_c

Collision Meshes (Green = Convex Mesh, Blue = Primitive Shape Mesh)