Kyry10/booster-k1-usd

Booster K1 USD (SONIC-K1 model) for Isaac Lab

🌐 SONIC-K1 project page · 🤗 Policy weights · 💻 Code

A ready-to-load USD of the Booster K1 humanoid (22 DoF, 23 bodies, 19.7 kg), exactly as SONIC-K1 uses it. Policy weights: Kyry10/sonic-k1. It was converted from SONIC-K1's k1.urdf with SONIC-K1's own converter settings, using Isaac Lab / Isaac Sim 5.1 (UrdfConverter). It is the same asset the policy was trained and evaluated with.

Why: converting URDF → USD at launch fails on some compute-only GPU servers (for example H100 servers with headless driver packages). Loading this USD with sim_utils.UsdFileCfg skips the conversion. Companion to Kyry10/unitree-g1-usd.

Files

File
k1_sonic_usd.zip	k1_sonic/ directory: k1.usd + configuration/ + config.yaml (converter settings) + license files
k1_sonic_usd.zip.sha256	ea3a6f9945a67969292fc6649f382fb76543bfc8db476561efa924a542685835
LICENSE-NOTICE.md, LICENSE-BSD-3-Clause-Booster.txt, LICENSE-Apache-2.0.txt	Licenses of the sources (also inside the zip)

Use

hf download Kyry10/booster-k1-usd k1_sonic_usd.zip --repo-type dataset --local-dir usd
cd usd && unzip k1_sonic_usd.zip      # -> usd/k1_sonic/k1.usd

spawn=sim_utils.UsdFileCfg(
    usd_path="usd/k1_sonic/k1.usd",   # keep the whole k1_sonic/ directory together
    activate_contact_sensors=True,
    rigid_props=...,          # same as your UrdfFileCfg had
    articulation_props=...,   # same as your UrdfFileCfg had
)

Initial base height for the default pose: 0.57 m.

Tested: loads and simulates on a Quadro RTX 6000 with Isaac Lab (convert_robot.py --verify: 22 joints, base settles from 0.569 m to 0.548 m in 1 s). It was generated on an H100 NVL server during SONIC-K1 training.

Provenance and license

• Meshes: byte-identical to Booster Robotics' booster_assets robots/K1/meshes. BSD 3-Clause, © BoosterRobotics.
• URDF: Booster's K1_22dof.urdf, with links and joints renamed for SONIC (same masses and meshes), shipped in Kyk0/sonic-k1 (Apache 2.0).
• Only the format was changed (URDF → USD). Full texts are in LICENSE-NOTICE.md. Not affiliated with or endorsed by Booster Robotics or NVIDIA.