In Stop & Go, ANYmal will now, in Autonomous Operation, stop for any obstacles found within a 1m square in front of its face, causing ANYmal to now stop up to 1m in front of the obstacle, instead of the previous 30 cm distance. By increasing this stopping distance, ANYmal will now have a greater safety margin when handling potential unexpected hazards during its missions. Note that in Manual Operation, the 30 cm stopping distance remains.
Please note how this might affect certain edges within your Waypoint Graph, especially if you were relying on a short stopping distance in tighter situations. We recommend that you use the scenario narrow if required.
If you have a particularly complex situation, we encourage you to reach out to us at Support for further advice.
Additionally, we have also improved ANYmal’s collision checks in general, now using ANYmal’s entire footprint, instead of just its contours. You should now have improved reliability for Stop & Go during autonomous operations.