AimDK_X2
1
About AgiBot X2
1.1 Product Overview
1.1.1 X2 Ultra Edition
1.2 Robot Specifications
1.2.1 X2 Series Parameter
1.3 On-board Computer
1.3.1 Standard Computing Units
1.3.2 Development Computing Unit Specifications
1.4 User Debug Interfaces (Ultra Edition)
1.5 Secondary Development Interfaces (Ultra Edition)
1.6 Sensor Field of View
1.7 Joint Limit Description
1.7.1 Arm Motion Range
1.7.2 Leg Motion Range
1.7.3 Head Motion Range
1.7.4 Waist Motion Range
1.8 Coordinate System
2
Operation Guide
2.1 Startup Guide
2.1.1 Startup While Suspended (Gantry Required) (Recommended for SDK use)
2.1.2 Startup from Supine Position (No Gantry Required)
2.1.3 Startup from Sitting Position (No Gantry Required)
2.2 Robot Mobile App Connection (Agibot-Go APP)
2.2.1 Download Links
iOS
Android
Operation Steps
2.3 Remote Controller Connection
2.3.1 Operation Steps
2.4 Shutdown Guide
2.4.1 Assist the Robot to Lie Down (No Gantry Required)
Step 1: Enter Standing Preparation Mode (Position-Control Standing)
Step 2: Lay the Robot Down
Step 3: Enter Zero-Torque Mode
Step 5: Pack the Robot as Illustrated
2.4.2 Shutdown from Sitting Posture (No Gantry Required)
Step 1: Use the Controller to Make the Robot Sit
Step 2: Enter Zero-Torque Mode
Step 3: Power Off
Step 4: Pack the Robot as Shown
3
Get the SDK
4
Quick Start
4.1 Read the user guide to familiarize yourself with relevant terminology and safety precautions.
4.2 Complete the basic system configuration
4.3 Network connection
4.4 Environment installation and configuration
4.5 Run an Example Program
4.5.1 Get the Robot’s Current State
4.5.2 Make the Robot Wave
4.6 Code Implementation
4.6.1 Project Overview
4.6.2 Add the Example to the Existing SDK Workspace
Understand the Existing Structure
Add a New Python Example
4.6.3 Write the Control Code
Create the Robot Control Class
Add the Main Entry Point
Register in the Build System
4.6.4 Build and Run
Build the Project
Run the Project
4.6.5 Code Walkthrough
Robot Control Class
4.6.6 Extensions and Optimization
Add More Actions and Interactions
Add Parameter Configuration
Add Error Handling
Add More Interaction Features
4.6.7 Troubleshooting
4.6.8 Next Steps
4.6.9 Summary
5
Interface Description
5.1 Control Module
5.1.1 Motion Mode Switching
Core Functions
Motion Mode Query Service
Motion Mode Set Service
Programming Examples
Safety Notes
5.1.2 Locomotion Control
Control Functions
Locomotion Control Topic
Programming Examples
Safety Notes
5.1.3 MC Control Signal Configuration
Key Features
Input Source Configuration
Arbitration Workflow
Input Source Management Services
Programming Examples
Notes
5.1.4 Preset Motion Control
Preset Motion Control Service
Programming Examples
Safety Notes
5.1.5 End Effector Control
Hand Control Features
Hand Control Topics
Hand Status Topics
Hand Type Query Service
Programming Examples
Safety Notes
5.1.6 Joint Control
Key Features
Joint Control Topics
Joint State Query Service
Programming Examples
Safety Notes
5.2 Interaction Module
5.2.1 Voice Control
Key Features
Volume Control Services
Speech Synthesis Services
Audio File Playback Service
MIC Audio Stream Capture Topic
Programming Examples
Safety Notes
5.2.2 Screen Control
Key Features
Emoji Playback Status Topic
Emoji Playback Service
Video Playback Service
Programming Examples
Safety Notes
5.2.3 LED Strip Control
Key Features
LED Strip Control Service
Programming Examples
5.3 Fault & System Management Module (Coming Soon)
5.3.1 Fault Handling (Coming Soon)
5.3.2 Permission Management (Coming Soon)
5.4 Hardware Abstraction Module
5.4.1 Sensor Interfaces
Core Features
Standard Sensor Messages
IMU Topics
Head Touch Status Topic
Rear RGB Camera Topics
Stereo Camera Topics
RGB-D Camera Topics
LiDAR Topics
Code Examples
Safety Notes
5.4.2 Power Management Unit (PMU)
Core Features
Power Management Topic
Safety Notes
5.5 Perception Module (Coming Soon)
5.5.1 Vision (Coming Soon)
5.5.2 SLAM (Coming Soon)
6
Example Code
6.1 Python interface usage example
6.1.1 Get robot mode
6.1.2 Set robot mode
6.1.3 Set robot action
6.1.4 Gripper control
6.1.5 Dexterous hand control (under upgrade, not available)
6.1.6 Register custom input source
6.1.7 Get current input source
6.1.8 Control robot locomotion
6.1.9 Joint motor control
Robot joint control example
6.1.10 Keyboard control
6.1.11 Take photo
6.1.12 Camera stream examples
Depth camera data subscription
Stereo camera data subscription
Head rear monocular camera data subscription
6.1.13 LiDAR data subscription
6.1.14 Play video
6.1.15 Media file playback
6.1.16 TTS (Text-to-Speech)
6.1.17 Microphone data reception
6.1.18 Emoji (expression) control
6.1.19 LED light strip control
6.2 C++ Interface Usage Example
6.2.1 Get Robot Mode
6.2.2 Set Robot Mode
6.2.3 Set Robot Motion
6.2.4 Gripper Control
6.2.5 Dexterous Hand Control (Unavailable During Upgrade)
6.2.6 Register Secondary Development Input Source
6.2.7 Get Current Input Source
6.2.8 Robot Locomotion Control
6.2.9 Joint Motor Control
Robot Joint Control Example
6.2.10 Keyboard Control of the Robot
6.2.11 Take Photo
6.2.12 Camera Streaming Example Collection
Depth Camera Data Subscription
Stereo Camera Data Subscription
Rear Head Monocular Camera Data Subscription
6.2.13 LiDAR Data Subscription
6.2.14 Play Video
6.2.15 Media File Playback
6.2.16 TTS (Text-to-Speech)
6.2.17 Microphone Audio Reception
6.2.18 Emoji Control
6.2.19 LED Strip Control
7
FAQ
8
Temporary Transitional Solutions Statement
8.1 Disable the Built-in Interaction System and Use Your Own Voice System
8.1.1 Steps to Temporarily Disable the Built-in Interaction System
8.1.2 Steps to Restore the Built-in Interaction System
8.2 Motion State Simplification: Some McAction state codes prior to v0.7.x are no longer supported
9
Boundaries & Disclaimer for Secondary Development
Changelog
Changelog v0.8.2
Newly Released Features
Adjustments to Existing Features
Deprecated / Removed Features
Changelog v0.8.1
Newly Released Features
Adjustments to Existing Features
Deprecated / Removed Features
Changelog v0.8.0
Newly Released Features
Adjustments to Existing Features
Deprecated / Removed Features
Other Updates
AimDK Feedback
AimDK_X2
5
Interface Description
5.3
Fault & System Management Module (Coming Soon)
5.3.2
Permission Management (Coming Soon)
5.3.2
Permission Management (Coming Soon)