ANYmal B trained using SAC on gymnasium/mujoco-v5 framework

env = gym.make('Ant-v5', xml_file='~/mujoco_menagerie/anybotics_anymal_b/scene.xml', include_cfrc_ext_in_observation=False, healthy_z_range=(0.48, 0.68), ctrl_cost_weight=0, contact_cost_weight=0, render_mode=None)

Trained using SB3/SAC https://github.com/Kallinteris-Andreas/gymnasium-mujuco-v5-envs-validation