far-booster-sdk 0.1.0

Booster Robotics SDK Python bindings (FAR fork)

Booster Robotics SDK

Booster Robotics SDK aims to provide a simple and easy-to-use interface for developers to control the Booster Robotics products.

Python package (PyPI)

The Python bindings are published to PyPI as far-booster-sdk (the far- prefix avoids colliding with upstream Booster packages). The import name is unchanged:

pip install far-booster-sdk

from booster_robotics_sdk_python import ChannelFactory, B1LocoClient  # import name unchanged

Wheels are prebuilt manylinux binaries (Python 3.8/3.9/3.10/3.11/3.12, x86_64 and aarch64) with the FastDDS runtime libraries bundled in — no compiler or system DDS install required.

Prebuild environment

• OS (Ubuntu 22.04 LTS)
• CPU (aarch64 and x86_64)
• Compiler (gcc version 11.4.0)

Installation

sudo ./install.sh

Install python package for building python binding locally

pip3 install pybind11
pip3 install pybind11-stubgen

Build examples

mkdir build
cd build
cmake ..
make

Run examples

1. run b1_arm_sdk_example_client locally

cd build
./b1_arm_sdk_example_client 127.0.0.1

2. run b1_7dof_arm_sdk_example_client locally

cd build
./b1_7dof_arm_sdk_example_client 127.0.0.1

3. run other example xxx locally

cd build
./xxx 127.0.0.1

Build python binding api and install

mkdir build
cd build
cmake .. -DBUILD_PYTHON_BINDING=on
make
sudo make install

if pybind11-stubgen cannot be found even after pip install, export PATH

export PATH=/home/[user name]/.local/bin:$PATH

License

This project is licensed under the Apache License, Version 2.0. See the LICENSE file for details.

This project uses the following third-party libraries:

• fastDDS (Apache License 2.0)
• pybind11 (BSD 3-Clause License)
• pybind11-stubgen (MIT License)