Booster Assets

This repository contains Booster robot models, motion data, and a simple helper package booster_assets for local development and tooling.

Robot Configurations

K1 Robot Models

Configuration	Description	Available Formats
K1 (22 DoF)	22-DoF layout: head 2 joints, arms 4 joints ×2, legs 6 joints ×2	URDF (robots/K1/K1_22dof.urdf), XML (robots/K1/K1_22dof.xml)
K1 Locomotion	Locomotion variant (fixed heads and arms)	URDF (robots/K1/K1_locomotion.urdf)
K1 with ZED (22 DoF)	22-DoF variant integrated with ZED camera mounts	URDF (robots/K1/K1_22dof-ZED.urdf)

T1 Robot Models

Configuration	Description	Available Formats
T1 (23 DoF)	23-DoF layout: head 2 joints, arms 4 joints ×2, waist 1 joint, legs 6 joints ×2	URDF (robots/T1/T1_23dof.urdf), XML (robots/T1/T1_23dof.xml)
T1 Locomotion (23 DoF)	23-DoF locomotion variant (fixed head, arms, waist where applicable)	URDF (robots/T1/T1_locomotion.urdf), XML (robots/T1/T1_locomotion.xml)
T1 with 7-DoF Arms (29 DoF)	29-DoF layout: arm joints become 7 per arm (head 2, arms 7×2, waist 1, legs 6×2)	URDF (robots/T1/T1_29dof.urdf)

Motion and Data Files

• motions/ contains retargeted motion data for booster robots. Currently only a few K1 example motions are provided.

Motion CSV Format

• Each row represents one frame of a trajectory.

• The first 7 columns are the generalized base pose: base position x, y, z and base orientation quaternion x, y, z, w.

• The remaining columns are joint positions (radians).

• K1 joint order (booster_assets.motions.K1_JOINT_NAMES):

AAHead_yaw,
Head_pitch,
ALeft_Shoulder_Pitch,
Left_Shoulder_Roll,
Left_Elbow_Pitch,
Left_Elbow_Yaw,
ARight_Shoulder_Pitch,
Right_Shoulder_Roll,
Right_Elbow_Pitch,
Right_Elbow_Yaw,
Left_Hip_Pitch,
Left_Hip_Roll,
Left_Hip_Yaw,
Left_Knee_Pitch,
Left_Ankle_Pitch,
Left_Ankle_Roll,
Right_Hip_Pitch,
Right_Hip_Roll,
Right_Hip_Yaw,
Right_Knee_Pitch,
Right_Ankle_Pitch,
Right_Ankle_Roll

• T1 joint order (booster_assets.motions.T1_JOINT_NAMES):

AAHead_yaw,
Head_pitch,
Left_Shoulder_Pitch,
Left_Shoulder_Roll,
Left_Elbow_Pitch,
Left_Elbow_Yaw,
Right_Shoulder_Pitch,
Right_Shoulder_Roll,
Right_Elbow_Pitch,
Right_Elbow_Yaw,
Waist,
Left_Hip_Pitch,
Left_Hip_Roll,
Left_Hip_Yaw,
Left_Knee_Pitch,
Left_Ankle_Pitch,
Left_Ankle_Roll,
Right_Hip_Pitch,
Right_Hip_Roll,
Right_Hip_Yaw,
Right_Knee_Pitch,
Right_Ankle_Pitch,
Right_Ankle_Roll

Motion List

File Name	Fps	Description
k1_fight_001.csv	30	Fighting motion sequence
k1_mj2_seg1.csv	50	MJ dance segment

Python installation and usage

Install the package in editable (development) mode:

python3 -m pip install -e .