The T1 is Booster Robotics’ full-size humanoid research platform — about 1.18 m tall and 30 kg, built for advanced work on dynamic balance, fall recovery, and multimodal perception rather than a compact desktop footprint.
The mechanism
Twenty-three independent revolute joints on the standard platform: 2 in the head (yaw and pitch), 4 per arm (shoulder pitch and roll, elbow pitch and yaw), 1 at the waist, and 6 per leg (hip pitch/roll/yaw, knee, ankle pitch/roll) — no mimic joints, no closed kinematic loops. Every link declares real, non-zero mass and inertia.
Choosing a variant
- T1 — the standard 23-DOF platform.
- T1 — Locomotion only — head, arms, and waist fixed rigid, only the 12 leg joints actuated, for gait and balance work where the upper body would just add simulation cost.
- T1 — 7-DOF arms — each arm gets three extra joints (wrist roll, pitch, yaw) for full dexterous reach, raising total DOF from 23 to 29.
About these files — read before importing
This links directly to BoosterRobotics/booster_assets, Booster Robotics’ own repository. ARMOR links directly to that repository rather than re-hosting anything, so what you get is exactly what Booster Robotics publishes, unmodified.