Hardware Details (Anymal) - norlab-ulaval/Norlab_wiki GitHub Wiki

Internal IMU

The integrated IMU in the Anymal-D is a Epson M-G365PD: Datasheet

Depth Cameras

The anymal is equipped with 4x Realsense Depth Module D430 (OEM model with no color sensor).

Wide Angle Cameras

The front and back wide angle cameras appear to be Flir/Teledyne Blackfly S, model BFS-PGE-16S2C-CS.

Connection: GigE Vision, each camera sits on its own isolated PoE-capable subnet (enp4s0 192.168.20.1/24 for front, enp5s0 192.168.30.1/24 for rear), MTU 9000 (jumbo frames) with rx/tx ring buffers bumped via udev.

Resolution: 1440×1080, equidistant (fisheye) distortion model

Payload Connectors

The connectors are as follows:

• J1 - JST Sales America Inc., B05B-PASS-1-TFT(LF)(SN)
• J3 - Molex, 430450421
• J6 - Amphenol ICC (FCI), 98424-G52-10LF
• J7 - JST Sales America Inc., BM06B-PASS-TFT(LF)(SN)
• J10 - Amphenol ICC (FCI), 98424-G52-12LF

Here is the info we have on the pinouts: