Every launcher exports RETROBIOS_PAD: gptokeyb, muxterm, evmapy or miyoo, so the interface can name the buttons that reach it. The wiki lists the values, and the tests check each launcher's.
RetroBIOS for Batocera and Knulli
Copy RetroBIOS.sh, RetroBIOS.sh.keys and the retrobios folder into
roms/ports on the SHARE partition (/userdata/roms/ports), update the
game list, then start RetroBIOS from Ports.
It checks the BIOS folder (/userdata/bios) against the files its emulators
read and installs the missing ones: downloaded with a network connection,
or from a pack copied into roms/ports/retrobios without one.
The controller drives it through RetroBIOS.sh.keys: D-pad to move, A or
Start to choose, B or Select to go back, X to tick a system, Y for the
options, L1 and R1 to page. B on the first screen closes it.
Not tried on a device yet
EmulationStation covers the text console on Batocera and Knulli, and no
terminal for a script is documented there. RetroBIOS opens xterm (the X11
builds) or foot when either is installed, else switches to console 4, runs
there, and switches back. When console 4 does not come to the front within
3 s, it switches back and stops. Which of the two shows up on a given build
is not verified. If nothing shows, retrobios/log.txt says which route
was taken, and the computer route always works: with the card mounted, run
the one-line command from abdess.github.io/retrobios/wiki/installer.