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 developed by Boston Dynamics. It is derived from the publicly available MJCF description.

MJCF derivation steps

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.