Merge pull request #163 from robot-descriptions/add/booster_t1

Add Booster T1 URDF description

Author: stephane-caron

CHANGELOG.md

@@ -7,6 +7,7 @@ All notable changes to this project will be documented in this file.
 ### Added
 
 - CLI: Add `pull` command to `robot_description` and cache it (thanks to @haixuantao)
+- Description: Booster T1 (URDF)
 - Description: BamBot (URDF)
 - Description: SO ARM 101 (MJCF) (thanks to @haixuantao)
 - Description: SO ARM 101 (URDF) (thanks to @haixuantao)

README.md

@@ -231,6 +231,7 @@ The DOF column denotes the number of actuated degrees of freedom.
 | `atlas_drc_description`         | Atlas DRC (v3)        | Boston Dynamics          | URDF       | BSD-3-Clause |
 | `atlas_v4_description`          | Atlas v4              | Boston Dynamics          | URDF       | MIT |
 | `berkeley_humanoid_description` | Berkeley Humanoid     | Hybrid Robotics          | URDF       | BSD-3-Clause |
+| `booster_t1_description`        | Booster T1            | Booster Robotics         | URDF       | [Apache-2.0](https://github.com/BoosterRobotics/booster_gym/blob/687a33d08b08875fe45dc8d91b54db83766df8b9/LICENSE) |
 | `draco3_description`            | Draco3                | Apptronik                | URDF       | BSD-2-Clause |
 | `elf2_description`              | Elf2                  | BXI Robotics             | URDF       | [Apache-2.0](https://github.com/bxirobotics/robot_models/blob/eabe24ce937f8e633077a163b883e92e8996c36e/LICENSE) |
 | `elf2_mj_description`           | Elf2                  | BXI Robotics             | MJCF       | [Apache-2.0](https://github.com/bxirobotics/robot_models/blob/eabe24ce937f8e633077a163b883e92e8996c36e/LICENSE) |

robot_descriptions/_descriptions.py

@@ -91,6 +91,7 @@ def has_urdf(self) -> bool:
         Format.URDF, tags={"humanoid"}
     ),
     "bolt_description": Description(Format.URDF, tags={"biped"}),
+    "booster_t1_description": Description(Format.URDF, tags={"humanoid"}),
     "cassie_description": Description(Format.URDF, tags={"biped"}),
     "cassie_mj_description": Description(Format.MJCF, tags={"biped"}),
     "cf2_description": Description(Format.URDF, tags={"drone"}),

robot_descriptions/_repositories.py

@@ -66,6 +66,11 @@ class Repository:
         commit="937f4186d6458bd682a7dae825fb6f4efe56ec69",
         cache_path="bhand_model",
     ),
+    "booster_gym": Repository(
+        url="https://github.com/BoosterRobotics/booster_gym.git",
+        commit="687a33d08b08875fe45dc8d91b54db83766df8b9",
+        cache_path="booster_gym",
+    ),
     "bullet3": Repository(
         url="https://github.com/bulletphysics/bullet3.git",
         commit="7dee3436e747958e7088dfdcea0e4ae031ce619e",

robot_descriptions/booster_t1_description.py

@@ -0,0 +1,21 @@
+#!/usr/bin/env python3
+# -*- coding: utf-8 -*-
+#
+# SPDX-License-Identifier: Apache-2.0
+# Copyright 2025 Inria
+
+"""BamBot description."""
+
+from os import getenv as _getenv
+from os import path as _path
+
+from ._cache import clone_to_cache as _clone_to_cache
+
+REPOSITORY_PATH: str = _clone_to_cache(
+    "booster_gym",
+    commit=_getenv("ROBOT_DESCRIPTION_COMMIT", None),
+)
+
+PACKAGE_PATH: str = _path.join(REPOSITORY_PATH, "resources", "T1")
+
+URDF_PATH: str = _path.join(PACKAGE_PATH, "T1_serial.urdf")