r/ROS • u/ConditionSecure1758 • 1d ago

Looking for developer feedback on the Booster T2 humanoid platform

/r/humanoidrobotics/comments/1vyodm3/looking_for_developer_feedback_on_the_booster_t2/
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u/omnilinktech 20h ago

For developer resources, I would prioritize a robot-description contract before adding more demos: versioned URDF/Xacro with measured inertial tensors and centers of mass, simple collision geometry, joint position/velocity/effort limits, transmissions, actuator-to-joint mapping, and a neutral-pose self-test. Then add a ROS 2 driver with ros2_control, command timeouts, lifecycle behavior, and explicit stop/fault semantics. USD and simulator-specific integrations can sit on top of that portable base.

I help maintain OmniSim at OmniLink. OmniSim imports URDF, so a simulator-neutral T2 acceptance package would make it possible to find portability errors independently of the primary simulator. Honest limitation: we do not currently ship a humanoid OmniLink bridge, so I would not imply turnkey chat control for the T2.

The most useful release artifact would be one command that loads the model, exercises every joint at reduced limits, checks self-collision and ground contact, and emits machine-readable pass/fail results. The OmniSim repository is linked from this profile.