General Robot Development Protocol

boosteros.base.Robot is the abstract base class for robot clients. Its purpose is to provide a unified interface abstraction, making it convenient to use Robot as a type annotation for function or method parameters when writing cross-model generic code. For example, a generic function can declare that it accepts a Robot, and at runtime receive a BoosterRobot or any other concrete implementation that inherits from Robot.

Robot is an abstract class; it cannot be instantiated directly and does not handle connecting to any specific robot. The API table below provides a quick overview of the capability categories, return types, and purposes of the public methods. For the exact call signatures, parameters, exceptions, and implementation behavior, refer to the API documentation for the corresponding robot implementation (e.g., BoosterRobot in Chapter 2).

General API quick-reference table:

Capability Category	API Name	Return Type	Description
Information Retrieval	robot_info	RobotInfo	Get robot name, model, serial number, firmware version and other basic metadata.
Information Retrieval	list_frames	list[str]	Get the names of currently queryable coordinate frames.
Information Retrieval	list_joints	list[JointInfo]	Get available joint information for the current robot.
Information Retrieval	list_actions	list[ActionInfo]	Get the list of predefined actions supported by the current robot.
Sensor Data	get_image	AnyImage	Read a single camera image snapshot.
Sensor Data	get_camera_info	CameraInfo	Read camera intrinsics and calibration information.
Sensor Data	get_imu	IMUState	Read a single IMU data snapshot.
Sensor Data	get_odom	OdomState	Read a single odometry data snapshot.
Sensor Data	get_joint_states	JointStates	Read all current joint states.
Sensor Data	get_battery	BatteryState	Read current battery state.
Sensor Data Subscription	subscribe_image	SensorSubscription	Subscribe to camera image updates.
Sensor Data Subscription	subscribe_imu	SensorSubscription	Subscribe to IMU data updates.
Sensor Data Subscription	subscribe_odom	SensorSubscription	Subscribe to odometry data updates.
Sensor Data Subscription	subscribe_battery	SensorSubscription	Subscribe to battery state updates.
Coordinate Transform	get_transform	Transform	Query the latest transform between two coordinate frames.
Basic Control	set_velocity	None	Set the robot's planar motion velocity in the robot coordinate frame.
Basic Control	set_joints	None	Send joint control commands in batch.
Basic Control	reset_odom	None	Reset the robot odometry to the specified pose, and the default reset target is the zero pose.
Advanced Task	get_active_tasks	list[TaskHandle[None]]	Get currently active TaskHandles, filterable by task information.
Advanced Task	do_action	TaskHandle[None]	Execute predefined action asynchronously and return TaskHandle.
Advanced Task	execute_trajectory	TaskHandle[None]	Execute trajectory object asynchronously and return TaskHandle.
Advanced Task	play_sound	TaskHandle[None]	Play audio resource or file asynchronously and return TaskHandle.