I've seen some people asking on Unity Robotics Hub how to get the spot working so here is how I did it a while back using ROS to control its movements in Unity. At the end I show the spot robot controlled using the files from https://github.com/SoftServeSAG/spot_simulation/tree/spot_control but it isn't fully working. Also, I'm still playing with the stiffness, damping and force values of the spot robot to get it moving more naturally. Let me know if you are able to make any improvements on what I have so far! Also, the audio isn't the best but hopefully the content helps.
Unity and ROS files: https://github.com/bryceikeda/SpotTutorial
Unity Robotics Hub: https://github.com/Unity-Technologies/Unity-Robotics-Hub/tree/main/tutorials/pick_and_place
Spot Control Repository: https://github.com/SoftServeSAG/spot_simulation/tree/spot_control
