Missing Motion Files for K1 Robot

[fanyahao1]

Several motion files referenced in booster_train task configurations are missing from the booster_assets repository, preventing those tasks from running.

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Problem Description

The booster_train repository defines multiple K1 training tasks that reference motion capture files in booster_assets. However, not all referenced files are present.

Available Files in booster_assets/motions/K1/

File	Format	Status
k1_mj2_seg1.csv	CSV	✅ Present
k1_fight_001.csv	CSV	✅ Present
k1_mj4.csv	NPZ	❌ Missing

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Affected Task Configurations

1. mj_dance_004 — k1_mj4.csv missing

File: booster_train/source/booster_train/booster_train/tasks/manager_based/beyond_mimic/robots/k1/mj_dance_004/env_cfg.py, line 17

self.commands.motion.motion_file = f"{BOOSTER_ASSETS_DIR}/motions/K1/k1_mj4.npz"

The file k1_mj4.csv does not exist in booster_assets. The only available MJ2-series file is k1_mj2_seg1.csv.

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Questions

1. Is k1_mj4.csv a planned but unreleased motion capture file? If so, when will it be available?
2. Could you provide a complete list of all planned K1 motion files and their availability timeline?

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Additional Question: T1 Robot Motion Tracking

The booster_assets repository includes URDF and mesh assets for the T1 robot:

booster_assets/robots/T1/
├── T1_23dof.urdf
├── T1_29dof.urdf
├── T1_locomotion.urdf
└── ...

However, unlike K1, there are currently no motion capture files (.csv / .npz) for T1 in booster_assets/motions/, and no motion tracking tasks for T1 in booster_train.

Could you please clarify:

1. Is there a plan to release T1 motion tracking support (motion files + training tasks) in booster_train?
2. If so, is there an expected timeline or roadmap for this?
3. Are there any T1 motion datasets planned to be added to booster_assets?

Environment

• Repository: booster_assets + booster_train
• Robot: K1, T1
• Affected tasks: mj_dance_004