Set up ANYmal - Cognite Docs

Once you completed the general setup, configure the ANYmal-specific settings to connect ANYmal to InRobot. Before you begin, ensure you have internet access on your PC or WM and that the ANYmal API is available and installed.

Download ANYmal integration

To download the ANYmal integration:

Navigate to Extractors

Go to Data management > Integrate > Extractors.

Download the ANYmal Integration extractor

Select and download the ANYmal Integration extractor. The extracted folder must have the compressed Docker images, anymal_agent.tar.gz and webrtc_controller.tar.gz, the docker-compose.yaml file, and the .env_template template file for the required environment variables.

Load the Docker images

Load the Docker images into your Docker runtime:

docker load -i anymal_agent.tar.gz
docker load -i webrtc_controller.tar.gz

Learn more about data extraction.

Deploy ANYmal agent

Set environment variables

Rename the .env_template to .env and fill in the environment variables. Cognite

Parameter	Description
`COGNITE_CLIENT_ID`	Enter client ID.
`COGNITE_CLIENT_SECRET`	Enter client secret.
`COGNITE_TOKEN_URL`	Enter the token URL.
`COGNITE_TENANT_ID`	Enter Microsoft Entra tenant ID instead of setting `COGNITE_TOKEN_URL` if you’re using Microsoft Entra ID. The `COGNITE_TENANT_ID` will be used if you set `COGNITE_TOKEN_URL` and `COGNITE_TENANT_ID`.
`COGNITE_SCOPES`	Enter the scopes to expand or restrict the access.
`COGNITE_PROJECT`	Enter the name of the Cognite project.
`COGNITE_CLUSTER`	Enter the name of the Cognite cluster.

ANYmal

Parameter	Description
`ANYMAL_SERVER`	Enter the ANYmal server to connect to, for example, `172.21.0.1:58050`.
`ANYMAL_ROBOT_NAME`	Enter the name of the robot to connect to.
`ANYMAL_STATE_UPDATE_PERIOD_MILLISECS`	Enter the rate at which states are sent from the ANYymal device agent, for example, 100”.
`ANYBOTICS_CREDENTIALS_DIR`	Enter the path to the ANYymal credentials folder (with `ads-cli.crt` and `ads-cli.pem`).
`COGNITE_ANYMAL_CLIENT_NAME`	Enter the name of the Cognite ANYymal Data Service client, for example `cognite_anymal_agent`.
`DATA_FOLDER_PATH`	Enter the path to an existing folder on the computer the Cognite agent is running on. The data folder is used to temporarily store inspection data before uploading it to CDF.
`CONFIG_FOLDER_PATH`	Enter the path to an existing folder on the machine the Cognite agent is running on. The configuration folder can contain an ANYymal-to Cognite-asset mapping. See Upload an ANYmal environment and Parse ANYmal missions.
`LOG_LEVEL`	Cognite agent log level. Possible level values are `DEBUG`, `INFO`, `WARNING`, `ERROR`.
`LOG_LEVEL_ANYMAL`	ANYymal client log level. Possible level values are `DEBUG`, `INFO`, `WARNING`, `ERROR`.

Video stream

Parameter	Description
`ANYMAL_CERTIFICATE`	Enter the path to the `ads-cli.crt` file (`"/usr/share/ads/credentials/ads-cli.crt"`).
`ANYMAL_CERTIFICATE_KEY`	Enter the path to the `ads-cli.pem` file (`"/usr/share/ads/credentials/ads-cli.crt"`).
`ANYMAL_ROOT_CA`	Enter the path to a root certificate. You can skip it if `ANYMAL_SKIP_AUTH_VERIFY=true`.
`ANYMAL_SKIP_AUTH_VERIFY`	Enter `true` or `false` if the agent skips verifying the root certificate.
`ANYMAL_PREFERRED_STREAM`	Enter `"zoom_camera"` or `"thermal_camera"`. The agent currently doesn’t support online changing of streams.
`ANYMAL_INSECURE`	Enter `true` when connecting to the ANYbotics simulator, otherwise, enter `false`.
`WEBRTC_CONFIG`	Select the correct configuration file: set to `"config-anymal-twilio"`.

Environments and missions

Parameter	Description
`MISSION_FOLDER`	Enter the path to the folder to upload ANYmal mission files.
`ENVIRONMENT_FOLDER`	Enter the path to the folder to upload ANYmal environment files.

Run the ANYmal agent

From a folder that contains the .env file and the docker-compose.yaml file, run the following commands:

Run all images
Stop the container
Run device agent only
Run video agent

docker-compose up -d

Upload an ANYmal environment

The anymal-environment-parser parses ANYmal environment files and converts them to an InRobot waypoint map and location. The location will have the same external ID as the environment file name (without extension), and the map will have the name <filename>_inspection_points. For example, if the file’s name is my_environment.yaml, the location’s name is my_environment, and the corresponding waypoint map’s name is my_environment_inspection_points. The environment parser isn’t running continuously as part of the docker-compose.yaml file. To upload an environment, run the environment parser container with the following command in the same folder as the .env file:

docker run --env-file=.env --name anymal-environment-parser --restart unless-stopped -v ${ENVIRONMENT_FOLDER}:/environments cognite/anymal-environment-parser:latest

If your .env file is in another folder, update the --env-file path. Set the ENVIRONMENT_FOLDER environment variable to the path where the environment files are stored in your terminal session. The command will connect to the running container. Once you’re done, stop the container, select the following shortcut: Mac - CMD+C and Windows - Ctrl+C. Find an ANYmal environment file and rename it to <environment_name>.yaml, where the environment_name is the name for the location in InRobot. Add that file to the folder specified by the ENVIRONMENT_FOLDER environment variable. This makes the environment parser process the environment file and create a location, frame, and a waypoint map in CDF. For example, if you have an environment file called my_environment.yaml, add it to the folder specified by the ENVIRONMENT_FOLDER environment variable. The location in InRobot will be called my_environment, and the corresponding waypoint map will be called my_environment_inspection_points.

environments/
    my_environment.yaml

If you’d like to move the new map to another location, update the map’s location using Postman to update in the robotics/maps/update:

{
  "items": [
    {
      "externalId": "my_environment_inspection_points",  // The externalId of the map
      "update": {
        "locationExternalId": {
          "set": "my_other_location" // The externalId of the location
        }
      }
    }
  ]
}

Parse ANYmal missions

anymal-mission-parser parses ANYmal missions. The parser creates InRobot missions from the ANYmal mission files. The parser isn’t running continuously as part of the docker-compose.yaml file. To upload missions, run the mission parser container with the following command in the same folder as the .env file:

docker run --env-file=.env --name anymal-mission-parser --restart unless-stopped -v ${MISSION_FOLDER}:/missions cognite/anymal-mission-parser:latest

If your .env file is in another folder, update the --env-file path. Set the MISSION_FOLDER environment variable to the path where the mission files are stored in your terminal session. The command will connect to the running container. Once you’re done, stop the container, select the following shortcut: Mac - CMD+C and Windows - Ctrl+C. After the environment has been parsed and uploaded to CDF, you can upload ANYmal missions trained in that environment. To parse and upload ANYmal missions, add a folder containing all the missions in the environment to the folder specified by the MISSIONS_FOLDER environment variable. The name of the folder added to the MISSIONS_FOLDER must be the environment_name. Here are the examples of mission files:

missions/
    testenvironment1/
        mission1.yaml
        mission2.yaml
    testenvironment2/
        mission3.yaml

ANYmal is deployment ready; there’s no need to add sensors, tags, or other physical adjustments to your environment. ANYmal uses onboard sensors to navigate without tags or fiducials.

Link ANYmal AssetId to CDF Asset external ID

If a mission is triggered through the ANYmal native application and not through InRobot, linking data from inspection events to the correct asset in CDF isn’t possible. To solve this, add an Anymal_AssetId: CDF_AssetInternalId in a configuration file. The file should be defined as $CONFIG_FOLDER_PATH/anymal_asset_id_to_cdf_asset_id_mapping.json, where $CONFIG_FOLDER_PATH is set in the .env file. The file format is:

{
    "Anymal_AssetId1": "CDF_AssetInternalId1",
    "Anymal_AssetId2": "CDF_AssetInternalId2",
}

Deploy

​Download ANYmal integration

​Deploy ANYmal agent

​Set environment variables

​Run the ANYmal agent

​Upload an ANYmal environment

​Parse ANYmal missions

​Link ANYmal AssetId to CDF Asset external ID