LuckyWorld/SourceFiles/mujoco_menagerie-main/booster_t1

Booster T1 Description (MJCF)

Important

Requires MuJoCo 2.3.4 or later.

Changelog

• 7/02/2025: Initial release.

Overview

This package contains a simplified robot description (MJCF) of the T1 Humanoid Robot developed by Booster Robotics. It is derived from the publicly available URDF description.

MJCF derivation steps

1. Started from t1_serial.urdf.
2. Added the following to the URDF <robot> tag <mujoco><compiler balanceinertia="true" discardvisual="false" fusestatic="false" strippath="false"/></mujoco>.
3. Loaded the URDF into MuJoCo and saved a corresponding MJCF.
4. Added freejoint to trunk.
5. Added imu site to trunk at position "0 0 0".
6. Added home keyframe.
7. Added tracking light.
8. Add frictionloss + armature to joints (not identified) for added stability.
9. Switched to implicitfast and used position actuators with kp/kv semantics.
10. Added IMU sensors.

License

This model is released under an Apache-2.0 License.