Boston Dynamics Spot
Boston Dynamics Spot is a quadruped, shown without its arm, made by Boston Dynamics. This model comes from MuJoCo Menagerie by Google DeepMind, under the BSD-3-Clause licence. The licence text is in LICENSE.
Not made by Lucen Robotics. Listed as a reference model for simulation.
The source's own README is kept unchanged as SOURCE_README.md.
How it was set up
The files come from boston_dynamics_spot in MuJoCo Menagerie, at commit 822c2d8.
The robot card was drafted from the model by lucen robot init, as in Add your robot.
The model file does not state the values below. Each one comes from the source beside it.
| Setting | Value | Where it comes from |
|---|---|---|
| Control rate | 50 Hz | Playground spot/joystick.py ctrl_dt=0.02 |
| Action | offset from the default pose | Playground spot/joystick.py: motor_targets = default_pose + action * action_scale |
| Action scale | 0.3 | Playground spot/joystick.py action_scale=0.3 |
| What a policy senses | joint positions, joint velocities, base angular velocity, gravity direction | Spot's joint encoders and IMU |
| Command | forward, sideways and turning speed | Playground's joystick command (vx, vy, yaw) |
| Everything else | read from the model file | joint order, the home keyframe, and kp 500 / kv 40 from the MJCF's own <position> actuators (Playground's task retunes its own copy to Kp 300 / Kd 1). |
The configs cited above, at the commits read:
- Playground: MuJoCo Playground, commit
4057c14. Each robot's task file, under locomotion or manipulation, in itsdefault_config().
No file from the source was changed. This README, the robot card and the robot's pictures are new.