| # Boston Dynamics Spot Description (MJCF) |
|
|
| > [!IMPORTANT] |
| > Requires MuJoCo 3.1.3 or later. |
|
|
| ## Overview |
|
|
| This package contains a simplified robot description (MJCF) of the [Spot |
| Quadruped](https://bostondynamics.com/products/spot/) developed by [Boston |
| Dynamics](https://bostondynamics.com/). It is derived from the [publicly |
| available URDF description](https://github.com/bdaiinstitute/spot_ros2). |
| |
| <p float="left"> |
| <img src="spot.png" width="400"> |
| </p> |
| |
| ## URDF → MJCF Conversion |
| |
| 1. Processed `.obj` files with [`obj2mjcf`](https://github.com/kevinzakka/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](https://github.com/bdaiinstitute/spot_ros2/blob/main/spot_description/urdf/spot_simple.urdf.xacro). |
| * The arm XML was derived from [spot_arm_macro.urdf](https://github.com/bdaiinstitute/spot_ros2/blob/main/spot_description/urdf/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](LICENSE). |
| |
