MindSpaceInc Spot Mini MuJoCo ROS 2 simulator — device market

Install

Three ways to run this device. Each one serves its fake backend: no instrument, no simulator install and no upstream checkout.

OpenAI4S (one command)

shell

openai4s lab add robots/mindspaceinc__spot-mujoco-ros2

Installs the device into the OpenAI4S Lab on its fake backend and starts it. First time? See setup below.

Or, in the workbench, open the Lab tab → Market → Install.

Standalone MHS endpoint

shell

git clone --depth 1 https://github.com/PKU-YuanGroup/OpenMHS.git && cd OpenMHS
PYTHONPATH=MHS/sdk/src python3 -m mhs serve robots/mindspaceinc__spot-mujoco-ros2 --port 7400
# in a second terminal, from the same directory:
PYTHONPATH=MHS/sdk/src python3 -m mhs describe --endpoint http://127.0.0.1:7400

Serves the device as an MHS endpoint on port 7400 from an OpenMHS clone (Python 3.10 or later, standard library only); describe prints what it offers.

Any MCP host (Claude Desktop, Cursor, …)

mcp configuration

{
  "mcpServers": {
    "spot-mujoco-ros2": {
      "command": "python3",
      "args": [
        "-m",
        "mhs",
        "serve",
        "robots/mindspaceinc__spot-mujoco-ros2",
        "--mcp"
      ],
      "env": {
        "PYTHONPATH": "/path/to/OpenMHS/MHS/sdk/src"
      }
    }
  }
}

Add this server to the host's MCP configuration and replace /path/to/OpenMHS with the path of your OpenMHS clone. The host starts the server and talks to it on stdin and stdout.

What it does

Measures

joint_positions
read_joint_states

Adjusts

Nothing declared.

Actions

publish_actuator_cmds: Publish one communication/msg/ActuatorCmds message on /simulation/actuators_cmds with the 12 actuator names fixed in MJCF order. The node applies the PD expression and clamps each resulting ctrl to [-100, 100]; a publication receipt is transmission only, not motion.
reset_simulation: Call the acknowledged /simulation/sim_reset service with the fixed frame_id spot, an optional base pose and optional 12 hinge positions. The callback calls mj_resetData, zeroes cached commands and returns is_success; it does not pause the physics loop.
reset_safe_state: Reset simulated data to the model defaults plus the fixed base pose with the acknowledged /simulation/sim_reset service. The callback calls mj_resetData and zeroes every cached actuator command; the MuJoCo physics loop keeps running.

Names as the driver declares them. Units, limits and the safety declaration are in the package's REFERENCE.md.

First-time setup

The OpenAI4S workbench with the OpenMHS lab, from a source checkout:

shell

# OpenAI4S workbench with the OpenMHS lab (source checkout)
git clone --recursive https://github.com/PKU-YuanGroup/OpenAI4S.git
cd OpenAI4S && ./setup.sh && source .venv/bin/activate
openai4s lab add robots/mindspaceinc__spot-mujoco-ros2
openai4s serve        # open the Lab tab

The standalone endpoint and the MCP server need only an OpenMHS clone and Python 3.10 or later. More in the market's getting-started guide and on the OpenAI4S host page.

Source and evidence

Upstream: mindspaceinc/spot-mujoco-ros2
Pinned commit: 1e07b87745ab
Licence: NOASSERTION
Stars: 52
Evidence: contract_checked on the fake backend
Backends: fake

The upstream repository asserts no licence (NOASSERTION); check it before you redistribute the upstream code.

The driver package MHS/drivers/robots/mindspaceinc__spot-mujoco-ros2 wraps the upstream code at the pinned commit. Its REFERENCE.md documents the full contract: every value, action, unit, limit and the safety declaration.