38 lines
1.2 KiB
Markdown
38 lines
1.2 KiB
Markdown
# Booster T1 Description (MJCF)
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> [!IMPORTANT]
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> Requires MuJoCo 2.3.4 or later.
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## Changelog
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- 7/02/2025: Initial release.
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## Overview
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This package contains a simplified robot description (MJCF) of the [T1 Humanoid
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Robot](https://www.boosterobotics.com/robots/) developed by [Booster
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Robotics](https://www.boosterobotics.com/). It is derived from the [publicly available
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URDF
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description](https://github.com/BoosterRobotics/booster_gym/blob/main/resources/T1/T1_serial.urdf).
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<p float="left">
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<img src="t1.png" width="400">
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</p>
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## MJCF derivation steps
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1. Started from `t1_serial.urdf`.
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2. Added the following to the URDF `<robot>` tag `<mujoco><compiler balanceinertia="true" discardvisual="false" fusestatic="false" strippath="false"/></mujoco>`.
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3. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
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4. Added freejoint to trunk.
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5. Added imu site to trunk at position `"0 0 0"`.
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6. Added home keyframe.
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7. Added tracking light.
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8. Add frictionloss + armature to joints (not identified) for added stability.
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9. Switched to implicitfast and used position actuators with kp/kv semantics.
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10. Added IMU sensors.
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## License
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This model is released under an [Apache-2.0 License](LICENSE).
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