robots/mujoco/boston_dynamics_spot/README.md

Boston Dynamics Spot Description (MJCF)

Requires MuJoCo 3.1.3 or later.

Overview

This package contains a simplified robot description (MJCF) of the Spot Quadruped developed by Boston Dynamics. It is derived from the publicly available URDF description.

URDF → MJCF Conversion

1. Processed .obj files with obj2mjcf.
2. Added <mujoco> <compiler discardvisual="false" strippath="false" fusestatic="false"/> </mujoco> to the URDF's <robot> clause in order to preserve visual geometries.
3. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
   • The spot XML was derived from spot_simple.urdf.xacro.
   • The arm XML was derived from spot_arm_macro.urdf.
4. Added a <freejoint/> to the base, and a tracking light.
5. Manually edited the MJCF to extract common properties into the <default> section.
6. Added <exclude> clauses to prevent collisions between the base and the upper legs.
7. Added position actuators (not tuned).
8. Added a home keyframe.
9. Added scene.xml which includes the robot, with a textured groundplane, skybox, and haze.

License

This model is released under a BSD-3-Clause License.