项目说明
Booster robot descriptions and example motion data
This repository contains Booster robot models, motion data, and a simple helper package boosterassets for local development and tooling.
- motions/ contains retargeted motion data for booster robots. Currently only a few K1 example motions are provided.
- Each row represents one frame of a trajectory. - The first 7 columns are the generalized base pose: base position x, y, z and base orientation quaternion x, y, z, w. - The remaining columns are joint positions (radians).
- K1 joint order (boosterassets.motions.K1JOINTNAMES):
text AAHeadyaw, Headpitch, ALeftShoulderPitch, LeftShoulderRoll, LeftElbowPitch, LeftElbowYaw, ARightShoulderPitch, RightShoulderRoll, RightElbowPitch, RightElbowYaw, LeftHipPitch, LeftHipRoll, LeftHipYaw, LeftKneePitch, LeftAnklePitch, LeftAnkleRoll, RightHipPitch, RightHipRoll, RightHipYaw, RightKneePitch, RightAnklePitch, RightAnkleRoll
- T1 joint order (boosterassets.motions.T1JOINTNAMES):
text AAHeadyaw, Headpitch, LeftShoulderPitch, LeftShoulderRoll, LeftElbowPitch, LeftElbowYaw, RightShoulderPitch, RightShoulderRoll, RightElbowPitch, RightElbowYaw, Waist, LeftHipPitch, LeftHipRoll, LeftHipYaw, LeftKneePitch, LeftAnklePitch, LeftAnkleRoll, RightHipPitch, RightHipRoll, RightHipYaw, RightKneePitch, RightAnklePitch, RightAnkleRoll
Install the package in editable (development) mode: