This repository contains Booster robot models, motion data, and a simple helper package booster_assets for local development and tooling.
| 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) |
| 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) |
| Configuration |
Description |
Available Formats |
| T2 (31 DoF) |
31-DoF layout: head 2 joints, arms 7 joints ×2, waist 3 joints, legs 6 joints ×2 |
URDF (robots/T2/T2_31dof/T2_31dof.urdf), XML (robots/T2/T2_31dof/T2_31dof.xml) |
motions/ contains retargeted motion data for Booster robots. The currently provided motion CSV files are sampled at 50 Hz.
- Each row represents one frame of a trajectory.
- The first 7 columns are the generalized root pose: root position
x, y, z and root orientation quaternion x, y, z, w.
- The remaining columns are joint positions (radians).
- The joint orders for K1, T1, and T2 are defined in
src/booster_assets/motions.py (K1_JOINT_NAMES, T1_JOINT_NAMES, T2_JOINT_NAMES).
| File Name |
Fps |
Description |
| k1_fight_001.csv |
50 |
Fighting motion sequence |
| k1_mj2_seg1.csv |
50 |
MJ dance segment |
Install the package in editable (development) mode:
python3 -m pip install -e .