Booster K1: why simulate before controlling the joints

Booster K1: simulation changes the buying decision

The Booster K1 also interests people who want to develop software for a humanoid robot. Before choosing the robot, however, it is important to distinguish predefined actions from direct joint control. In CUSTOM mode, responsibility passes to the user’s code: buying the hardware does not provide ready, validated custom locomotion.

Booster’s K1 documentation and the independent NUbots project NUSim help explain this distinction. This analysis concerns public documents and software consulted on 19 October 2026: ROBOLERO has not tested the K1, installed NUSim or measured performance. It is a useful comparison for deciding what preparation to request before a purchase.

The video concerns the remote controller

Booster Robotics’ official tutorial explains how to use the K1 remote controller. We do not use it as evidence of NUSim, CUSTOM joint control or ROBOLERO testing. The remote-controller tutorial and the simulator’s functions therefore need to be assessed separately.

DAMP, PREP, WALK and CUSTOM: what changes

The modes in the K1 manual describe different behaviours. The table summarises the implications for a project without replacing the complete operating procedures.

Moving from predefined movements to CUSTOM is therefore a change in responsibility, rather than simply another feature to enable. The name DAMP does not mean the robot should be considered risk-free; PREP does not promise the same response to disturbances as WALK.

Simulation and physical support meet different needs

In its K1 development safety warnings, Booster instructs users to validate algorithms in Webots/Isaac before using the hardware and to protect the robot with a hoist during CUSTOM operation. Software verification and physical support address different problems: a virtual result cannot physically prevent a fall.

For an individual buyer, this means clarifying before ordering where the robot will be used and what expertise will be available. An empty room or a powerful computer alone does not demonstrate that the environment is suitable. The manufacturer’s complete instructions must guide any work on the hardware; this article does not provide command sequences or disturbance tests to reproduce.

NUSim: a simulated body with separate control

The NUbots/NUSim repository describes a MuJoCo simulator for the K1 used in RoboCup development. It reproduces elements including body physics, servomotors, mode management and the head camera. Locomotion policies—the software that determines movement commands—run separately on the NUbots side: NUSim neither trains nor runs them internally.

The project uses the Booster SDK protocol through FastDDS, allowing NUbots_K1 programs to interact with the simulator without changing their binary. This is an integration advantage, not a guarantee of identical behaviour on the robot. Friction, contacts and actuator response may differ; support for a protocol does not certify a safe transfer from simulation to reality.

NUSim is not presented here as a certified substitute for the validation specified by Booster. References to the T1 or other platforms likewise do not establish the compatibility of configurations and policies with the purchased K1.

Before ordering: four concrete checks

1. Ask which model, variant and versions of the firmware, SDK and documentation will actually be supplied.
2. Ask which movements are already included and which require custom development.
3. Confirm with the seller or support team the intended simulation environment and the compatibility of the chosen configuration.
4. Request a list of the protective equipment, support and training needed, distinguishing what is included from what must be purchased.

Costs and a practical decision

Beyond the robot, consider a compatible computer, any suitable support equipment, training and configuration time. These are items to obtain quotations for, not equipment that these sources establish as included. We give no prices because we have not verified a commercial offer for this configuration.

If you want ready-made actions, request a demonstration of the supplied functions. If you want to write joint-control software, first assess the resources and support available for development. The Booster K1 listing and the robot valuation page help continue the comparison without mistaking available code for immediately usable functions.

Sources

• Booster: K1 modes.
• Booster: K1 safety.
• NUbots: NUSim.
• Booster Robotics: K1 remote-controller tutorial.