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booster_assets User Guide

Project Overview​

booster_assets provides Booster robot models, motion data, and a lightweight Python helper package for local development and tooling. It serves as the shared robot-resource foundation for training, simulation, motion-data processing, and deployment workflows.

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boostertrain uses robot models and motion data from boosterassets for training, while booster_deploy uses these resources for simulation and deployment preparation.

K1 Robot Models​

Configuration

Description

Formats

K1 (22 DoF)

22-DoF layout: 2 head joints, 4 joints per arm, and 6 joints per leg.

URDF: robots/K1/K1_22dof.urdf
XML: robots/K1/K1_22dof.xml

K1 Locomotion

Locomotion variant with fixed head and arms.

URDF: robots/K1/K1_locomotion.urdf

K1 with ZED (22 DoF)

22-DoF variant with ZED camera mounts.

URDF: robots/K1/K1_22dof-ZED.urdf

T1 Robot Models​

Configuration

Description

Formats

T1 (23 DoF)

23-DoF layout: 2 head joints, 4 joints per arm, 1 waist joint, and 6 joints per leg.

URDF: robots/T1/T1_23dof.urdf
XML: robots/T1/T1_23dof.xml

T1 Locomotion (23 DoF)

Locomotion variant with 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 with 7 joints per arm.

URDF: robots/T1/T1_29dof.urdf

Motion and Data Files​

  • motions/ contains motion data retargeted for Booster robots.
  • A few K1 example motions are currently provided.
  • Each CSV row represents one trajectory frame.
  • The first seven columns are generalized base pose: base position x, y, z and base orientation quaternion x, y, z, w.
  • The remaining columns are joint positions in radians.

K1 Joint Order​

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​

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

Example Motions​

File Name

FPS

Description

k1_fight_001_30fps.csv

30

Fighting motion sequence.

k1_mj2_seg1_50fps.csv

50

MJ dance segment.

Install the Python Helper Package​

For local development or tooling, install the package in editable mode:

python3 -m pip install -e .

Typical Use Cases​

  • Provide robot models and motion data for booster_train.
  • Provide simulation models and deployment resources for booster_deploy.
  • Serve as a shared resource library for custom training, motion processing, and simulation testing.