Quick Start

boosteros needs to run on physical Booster robots or in virtual robot simulation environments. For first-time use, it is recommended to first connect to the device or simulation environment using Booster Studio, then follow this documentation to complete dependency installation, connectivity check, and read one frame of data to confirm that images, joints, and IMU are all available.

Base package:

For basic APIs including robot connection, state reading, and motion control.

python3 -m pip install boosteros

brain optional package:

Contains dependencies required for Speech capabilities and Detection vision capabilities.

python3 -m pip install "boosteros[brain]"

After creating the robot object, call basic information APIs to confirm that the motion control service is available:

from boosteros.robots.booster import BoosterRobot

robot = BoosterRobot()

info = robot.robot_info
print(f"{info.manufacturer}, {info.model}, {info.serial_number}")
# Example output: Booster Robotics, Booster K1, rivt9

mode = robot.get_mode()
print(f"mode={mode}")
# Example output: mode=prepare

joints = robot.list_joints()
print(f"joints={len(joints)}")
# Example output: joints=22

Read a batch of the most commonly used data to confirm that the API link is working:

from boosteros.robots.booster import BoosterRobot

robot = BoosterRobot()

joint_states = robot.get_joint_states()
print(joint_states.names[:5])
# Example output: ['AAHead_Yaw', 'Head_Pitch', 'ALeft_Shoulder_Pitch', 'Left_Shoulder_Roll', 'Left_Elbow_Pitch']

imu = robot.get_imu()
print(imu.rpy)
# Example output: [ 1.11528370e-05  4.49275300e-02 -1.56997216e+00]

img = robot.get_image(img_type="rgb")
img.save("quickstart_rgb.jpg")
print("saved quickstart_rgb.jpg")