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booster_deploy User Guide

Project Overview​

booster_deploy is Booster Robotics' lightweight policy deployment framework. It runs control policies on real Booster robots, in MuJoCo simulation, and in Webots internal simulation. The framework adopts modular abstractions inspired by Isaac Lab so the same policy execution flow can work across simulated and physical robotic platforms.

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For real-robot deployment, make sure the robot firmware is v1.4 or later and validate the policy in simulation first. For T1 Standard Edition, deploy on the motion board instead of the perception board.

Prerequisites​

Environment

Notes

Booster firmware ≥ v1.4

Required for real-robot deployment.

Python 3.10+

Already installed on the robot.

ROS 2 Humble

Required for /low_state and /joint_ctrl topics; already installed on the robot.

MuJoCo / Webots

Optional; install the simulator you plan to use.

Add and List Tasks​

  1. Create a subfolder under tasks/ for your task.
  2. Implement Policy/PolicyCfg and provide a ControllerCfg referencing the policy.
  3. Place policy checkpoints under models/ and reference the path in the config.
  4. Register the ControllerCfg in the task registry.
  5. List all available tasks.
python3 scripts/deploy.py --list

Run Sim2Sim with MuJoCo​

  1. Download and install booster_assets for robot models and resources.
  2. Install Python dependencies on the local machine.
  3. Launch the task in MuJoCo.
pip install -r requirements.txt
python scripts/deploy.py --task <TASK_NAME> --mujoco

Run Sim2Real on Real Robots​

  1. Make sure Booster Firmware v1.4 or later is installed on the robot.
  2. After local Sim2Sim validation, copy the project to the robot.
  3. Clone and build Booster Robotics SDK on the robot with Python bindings enabled.
  4. Install Python dependencies on the robot.
  5. SSH into the robot and source the ROS 2 setup script.
  6. Run the deployment script and follow the command-line prompts.

Build SDK Python Bindings​

cd booster_robotics_sdk
mkdir build && cd build
cmake .. -DBUILD_PYTHON_BINDING=ON
make -j$(nproc)
sudo make install

Start ROS 2 and Run the Task​

pip install -r requirements.txt
source /opt/booster/BoosterRos2Interface/install/setup.bash
python3 scripts/deploy.py --task <TASK_NAME>

Repository Layout​

booster_deploy/
├─ booster_deploy/           # Controllers, policies, utilities
├─ scripts/                  # Entry-point scripts (deploy.py)
├─ tasks/                    # Task registry and configs
├─ requirements.txt          # Python dependencies
└─ fastdds_profile.xml       # Default FastDDS settings for ROS 2

Key Modules​

  • booster_deploy/: core module that provides unified abstractions for simulators and physical robots, and handles communication through ROS 2.
  • booster_deploy/robots/: robot configuration modules for joints, bodies, default positions, stiffness, damping, effort limits, MuJoCo model paths, and prepare-state settings.
  • tasks/: user task definitions, including policy implementation, controller configuration, models, and optional motion resources.