IntelligentRoboticsLab · oxkitsune · Feb 22, 2026 · Feb 22, 2026 · Feb 22, 2026 · Feb 22, 2026
diff --git a/.github/workflows/release.yml b/.github/workflows/release.yml
@@ -1,109 +1,123 @@
 name: Release
 
 on:
-    workflow_dispatch:
+  workflow_dispatch:
 
 permissions:
-    contents: read
+  contents: read
 
 jobs:
-    build:
-        name: Build wheels (${{ matrix.platform.id }})
-        runs-on: ${{ matrix.platform.runner }}
-        strategy:
-            fail-fast: false
-            matrix:
-                platform:
-                    # manylinux_2_28 x86_64 (cp310-cp313)
-                    - id: manylinux_2_28-x86_64
-                      runner: ubuntu-22.04
-                      target: x86_64-unknown-linux-gnu
-                      manylinux: "2_28"
-                      maturin_args: >-
-                          --release --manifest-path booster_sdk_py/Cargo.toml --out dist --compatibility pypi
-                          -i python3.10 -i python3.11 -i python3.12 -i python3.13
-
-                    # manylinux_2_28 aarch64 (cp310-cp313)
-                    - id: manylinux_2_28-aarch64
-                      runner: ubuntu-22.04
-                      target: aarch64-unknown-linux-gnu
-                      manylinux: "2_28"
-                      maturin_args: >-
-                          --release --manifest-path booster_sdk_py/Cargo.toml --out dist --compatibility pypi
-                          -i python3.10 -i python3.11 -i python3.12 -i python3.13
-
-                    # macOS arm64 (cp310)
-                    - id: macos-arm64-cp310
-                      runner: macos-14
-                      target: aarch64-apple-darwin
-                      python: "3.10"
-                      manylinux: ""
-                      maturin_args: --release --manifest-path booster_sdk_py/Cargo.toml --out dist --compatibility pypi -i python
-
-                    # macOS arm64 (cp311)
-                    - id: macos-arm64-cp311
-                      runner: macos-14
-                      target: aarch64-apple-darwin
-                      python: "3.11"
-                      manylinux: ""
-                      maturin_args: --release --manifest-path booster_sdk_py/Cargo.toml --out dist --compatibility pypi -i python
-
-                    # macOS arm64 (cp312)
-                    - id: macos-arm64-cp312
-                      runner: macos-14
-                      target: aarch64-apple-darwin
-                      python: "3.12"
-                      manylinux: ""
-                      maturin_args: --release --manifest-path booster_sdk_py/Cargo.toml --out dist --compatibility pypi -i python
-
-                    # macOS arm64 (cp313)
-                    - id: macos-arm64-cp313
-                      runner: macos-14
-                      target: aarch64-apple-darwin
-                      python: "3.13"
-                      manylinux: ""
-                      maturin_args: --release --manifest-path booster_sdk_py/Cargo.toml --out dist --compatibility pypi -i python
-
-        steps:
-            - uses: actions/checkout@v4
-
-            # Only needed for macOS builds (Linux manylinux builds run inside the container and
-            # actions/setup-python won't affect those).
-            - name: Setup Python (macOS only)
-              if: startsWith(matrix.platform.runner, 'macos')
-              uses: actions/setup-python@v5
-              with:
-                  python-version: ${{ matrix.platform.python }}
-
-            - name: Build wheels
-              uses: PyO3/maturin-action@v1
-              with:
-                  command: build
-                  target: ${{ matrix.platform.target }}
-                  manylinux: ${{ matrix.platform.manylinux }}
-                  args: ${{ matrix.platform.maturin_args }}
-
-            - name: Upload wheels
-              uses: actions/upload-artifact@v4
-              with:
-                  name: wheels-${{ matrix.platform.id }}
-                  path: dist/*.whl
-
-    publish:
-        runs-on: ubuntu-22.04
-        needs: build
-        environment: release
-        permissions:
-            id-token: write
-        steps:
-            - uses: actions/download-artifact@v4
-              with:
-                  pattern: wheels-*
-                  merge-multiple: true
-                  path: dist/
-
-            - name: Install uv
-              uses: astral-sh/setup-uv@v5
-
-            - name: Publish to PyPI
-              run: uv publish dist/*
+  build:
+    name: Build wheels (${{ matrix.platform.id }})
+    runs-on: ${{ matrix.platform.runner }}
+    strategy:
+      fail-fast: false
+      matrix:
+        platform:
+          # manylinux_2_28 x86_64 (cp310-cp313)
+          - id: manylinux_2_28-x86_64
+            runner: ubuntu-22.04
+            target: x86_64-unknown-linux-gnu
+            manylinux: "2_28"
+            maturin_args: >-
+              --release --manifest-path booster_sdk_py/Cargo.toml --out dist --compatibility pypi
+              -i python3.10 -i python3.11 -i python3.12 -i python3.13
+
+          # manylinux_2_28 aarch64 (cp310-cp313)
+          - id: manylinux_2_28-aarch64
+            runner: ubuntu-22.04
+            target: aarch64-unknown-linux-gnu
+            manylinux: "2_28"
+            maturin_args: >-
+              --release --manifest-path booster_sdk_py/Cargo.toml --out dist --compatibility pypi
+              -i python3.10 -i python3.11 -i python3.12 -i python3.13
+
+          # macOS arm64 (cp310)
+          - id: macos-arm64-cp310
+            runner: macos-14
+            target: aarch64-apple-darwin
+            python: "3.10"
+            manylinux: ""
+            maturin_args: --release --manifest-path booster_sdk_py/Cargo.toml --out dist --compatibility pypi -i python
+
+          # macOS arm64 (cp311)
+          - id: macos-arm64-cp311
+            runner: macos-14
+            target: aarch64-apple-darwin
+            python: "3.11"
+            manylinux: ""
+            maturin_args: --release --manifest-path booster_sdk_py/Cargo.toml --out dist --compatibility pypi -i python
+
+          # macOS arm64 (cp312)
+          - id: macos-arm64-cp312
+            runner: macos-14
+            target: aarch64-apple-darwin
+            python: "3.12"
+            manylinux: ""
+            maturin_args: --release --manifest-path booster_sdk_py/Cargo.toml --out dist --compatibility pypi -i python
+
+          # macOS arm64 (cp313)
+          - id: macos-arm64-cp313
+            runner: macos-14
+            target: aarch64-apple-darwin
+            python: "3.13"
+            manylinux: ""
+            maturin_args: --release --manifest-path booster_sdk_py/Cargo.toml --out dist --compatibility pypi -i python
+
+    steps:
+      - uses: actions/checkout@v4
+
+      # Only needed for macOS builds (Linux manylinux builds run inside the container and
+      # actions/setup-python won't affect those).
+      - name: Setup Python (macOS only)
+        if: startsWith(matrix.platform.runner, 'macos')
+        uses: actions/setup-python@v5
+        with:
+          python-version: ${{ matrix.platform.python }}
+
+      - name: Build wheels
+        uses: PyO3/maturin-action@v1
+        with:
+          command: build
+          target: ${{ matrix.platform.target }}
+          manylinux: ${{ matrix.platform.manylinux }}
+          args: ${{ matrix.platform.maturin_args }}
+
+      - name: Upload wheels
+        uses: actions/upload-artifact@v4
+        with:
+          name: wheels-${{ matrix.platform.id }}
+          path: dist/*.whl
+
+  publish-crate:
+    runs-on: ubuntu-22.04
+    environment: release
+    needs: build
+    steps:
+      - uses: actions/checkout@v4
+      - uses: prefix-dev/setup-pixi@v0.9.1
+        with:
+          pixi-version: v0.63.2
+      - name: Publish to crates.io
+        run: pixi run cargo publish -p booster_sdk
+        env:
+          CARGO_REGISTRY_TOKEN: ${{ secrets.CARGO_REGISTRY_TOKEN }}
+
+  publish-pypi:
+    runs-on: ubuntu-22.04
+    needs: build
+    environment: release
+    permissions:
+      id-token: write
+    steps:
+      - uses: actions/download-artifact@v4
+        with:
+          pattern: wheels-*
+          merge-multiple: true
+          path: dist/
+
+      - name: Install uv
+        uses: astral-sh/setup-uv@v5
+
+      - name: Publish to PyPI
+        run: uv publish dist/*
diff --git a/Cargo.lock b/Cargo.lock
diff --git a/Cargo.toml b/Cargo.toml
@@ -3,7 +3,7 @@ members = ["booster_sdk", "booster_sdk_py"]
 resolver = "2"
 
 [workspace.package]
-version = "0.1.0-alpha.6"
+version = "0.1.0-alpha.7"
 edition = "2024"
 authors = ["Team whIRLwind"]
 license = "MIT OR Apache-2.0"

diff --git a/README.md b/README.md
@@ -1,17 +1,18 @@
-# Booster Robotics Rust SDK
+# Booster Robotics SDK
 
 [![License](https://img.shields.io/badge/license-MIT%2FApache-blue.svg)](https://github.com/IntelligentRoboticsLab/booster_sdk#license)
 [![Crates.io](https://img.shields.io/crates/v/booster_sdk.svg)](https://crates.io/crates/booster_sdk)
 [![Downloads](https://img.shields.io/crates/d/booster_sdk.svg)](https://crates.io/crates/booster_sdk)
 [![Docs](https://docs.rs/booster_sdk/badge.svg)](https://docs.rs/booster_sdk/latest/booster_sdk/)
 [![PyPI](https://img.shields.io/pypi/v/booster_sdk.svg)](https://pypi.org/project/booster-sdk/)
 
-A Rust SDK for controlling Booster robots based on [Booster Robotics C++ SDK](https://github.com/BoosterRobotics/booster_robotics_sdk).
+This project is a Rust reimplementation of the original [Booster Robotics C++ SDK (`booster_robotics_sdk`)](https://github.com/BoosterRobotics/booster_robotics_sdk) for controlling Booster robots.
+
+In addition to the Rust crate, this repository also provides Python bindings built on top of the Rust implementation.
 
 ## 🚧 Project Status
 
-This library is currently in early development. The core architecture and types are defined, but none of it has been tested on
-an actual robot yet. The DDS transport layer is implemented using RustDDS.
+This library is currently in active development and has been tested on a real robot.
 
 ## API Examples
 
@@ -45,29 +46,19 @@ async fn main() -> Result<(), Box<dyn std::error::Error>> {
 
 ## Experimental Python Bindings
 
-Python bindings for the SDK are available using [PyO3](https://github.com/PyO3/pyo3). These bindings are very experimental!
-
-### Requirements
-
-- Python 3.10 or higher
-- Rust toolchain (for building from source)
-
-### Installation
-
-The Python package can be built using pixi:
+Python wheels are available on [PyPI](https://pypi.org/project/booster-sdk/):
 
 ```bash
-pixi run py-build-wheel
+pip install booster-sdk
 ```
 
-This will create a wheel file in `booster_sdk_py/dist/` that can be installed with `pip install booster_sdk_py/dist/*.whl`.
-
 ### Python API Example
 
-Note: Python bindings are intentionally minimal and expose a subset of the Rust API.
+Note: Python bindings are experimental.
 
 ```python
-from booster_sdk import BoosterClient, GripperCommand, Hand, RobotMode
+from booster_sdk.client.booster import BoosterClient
+from booster_sdk.types import GripperCommand, Hand, RobotMode
 
 client = BoosterClient()
 
@@ -81,12 +72,8 @@ client.move_robot(0.5, 0.0, 0.0)
 client.publish_gripper_command(GripperCommand.open(Hand.RIGHT))
 ```
 
-The Python bindings currently cover basic mode changes, locomotion, and gripper control.
-
-# DDS Setup
-
-The Rust SDK communicates directly over DDS (RustDDS). Please refer to the [DDS Setup Guide](docs/dds_setup.md) for detailed instructions.
+The Python bindings currently cover core control flows, including locomotion, gripper control, AI/LUI RPC calls, vision RPC calls, and X5 camera RPC calls.
 
 ## Contributing
 
-This SDK is currently in early development. Contributions are welcome! Please open issues or pull requests for bug fixes, features, or documentation improvements.
+This SDK is in active development. Contributions are welcome! Please open issues or pull requests for bug fixes, features, or documentation improvements.
diff --git a/booster_sdk/examples/gripper_control.rs b/booster_sdk/examples/gripper_control.rs
@@ -4,7 +4,7 @@
 //!
 //! Run with: cargo run --example `gripper_control`
 
-use booster_sdk::client::{BoosterClient, commands::GripperCommand};
+use booster_sdk::client::loco::{BoosterClient, GripperCommand};
 use booster_sdk::types::{Hand, RobotMode};
 
 #[tokio::main]

diff --git a/booster_sdk/examples/locomotion_control.rs b/booster_sdk/examples/locomotion_control.rs
@@ -4,7 +4,7 @@
 //!
 //! Run with: cargo run --example `locomotion_control`
 
-use booster_sdk::client::BoosterClient;
+use booster_sdk::client::loco::BoosterClient;
 use booster_sdk::types::RobotMode;
 use tokio::time::Duration;
 

diff --git a/booster_sdk/examples/look_around.rs b/booster_sdk/examples/look_around.rs
@@ -4,7 +4,7 @@
 //!
 //! Run with: cargo run --example `look_around`
 
-use booster_sdk::client::BoosterClient;
+use booster_sdk::client::loco::BoosterClient;
 use tokio::time::Duration;
 
 #[tokio::main]