AimDK_X2
1
About AgiBot X2
1.1 Product Overview
1.1.1 X2 Ultra Edition
1.1.2 X2 EDU
1.1.3 X2 Ultra(new version)
1.2 Robot Specifications
1.2.1 X2 Series Parameters
1.3 On-board Computer
1.3.1 Standard Computing Units
1.3.2 Development Computing Unit Specifications
1.4 User Debug Interfaces
1.4.1 X2 Ultra
1.4.2 X2 Ultra(new version)
1.4.3 X2 EDU
1.5 Secondary Development Interfaces
1.6 AgiBot X2 Sensor Overview
1.6.1 Sensor Capabilities & FOV Diagram
1.6.2 Sensor Specifications
LiDAR
RGB-D Camera
Front Stereo RGB Camera
Front Interaction RGB Camera
Rear RGB Camera
Touch Sensor
Standalone Inertial Sensor (IMU)
GNSS Module
1.7 Joint Motion Range Description (Warranted)
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
1.8.1 URDF and Factory Calibration
1.8.2 Factory Calibration Extrinsics
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 Choose a Development Mode
4.2.1 Use SDK Directly on the Development Computing Unit (Quick Start; X2 Ultra and X2 Ultra(new version) Only)
4.2.2 Container-Based Development on the Development Computing Unit (Recommended; X2 Ultra and X2 Ultra(new version) Only)
4.2.3 Host PC / Computing Pack + Cross-Device Networking
4.3 Network connection
4.3.1 X2 Ultra / X2 Ultra(new version)
4.3.2 X2 EDU
4.4 Develop in a Container
4.4.1 Prepare the Files
Pre-Build Check: Mirror Reachability
Pre-Build Check: Trailing Whitespace in
/etc/subgid
Dockerfile
run.sh
4.4.2 Build the Image
4.4.3 Start the Container
4.4.4 Enter the Container
4.4.5 Build and Run
4.5 Before Your First Run: Build the SDK
4.6 Run an Example Program
4.6.1 Get the Robot’s Current State
4.6.2 Control the Robot to Wave
4.7 Code Implementation
4.7.1 Project Overview
4.7.2 Add the Example to the Existing SDK Workspace
Understand the Existing Structure
Add a New Python Example
4.7.3 Write the Control Code
Create the Robot Control Class
Add the Main Entry Point
Register in the Build System
4.7.4 Build and Run
Build the Project
Run the Project
4.7.5 Code Walkthrough
Robot Control Class
4.7.6 Extensions and Optimization
Add More Actions and Interactions
Add Parameter Configuration
Add Error Handling
Add More Interaction Features
4.7.7 Troubleshooting
4.7.8 Next Steps
4.7.9 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
System-Provided Input Sources
Arbitration Workflow
Input Source Management Services
Programming Examples
Notes
5.1.4 Motion Control Status Query
Motion Control Status Topic
Status Field Description
5.1.5 Upper Body Control
Topic Interface
Joint Index
Usage
Programming Examples
5.1.6 Preset Motion Control
Preset Motion Control Service
Preset Motion State Query Service
Priority and Interruption Mechanism for Preset Motions
Programming Examples
Safety Notes
5.1.7 LinkCraft Actions
About LinkCraft
Interface Description
Programming Examples
5.1.8 End Effector Control
Control Methods
Low-level Control Interface
Hand Status Topics
Hand Type Query Service
Programming Examples
Safety Notes
5.1.9 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
Text-to-Speech Service
Audio File Playback Service
Audio Stream Playback
MIC Audio Stream Capture Topic
Microphone Control Service
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
LED Strip State Topic
Programming Examples
5.2.4 LinkSoul Cloud Interaction
About LinkSoul
Technical Architecture
Usage Steps
5.3 Fault & System Management Module
5.3.1 Fault Handling
Core Features
Topic Interfaces
Service Interfaces
Programming Examples
5.3.2 Permission Management (Coming Soon)
5.3.3 Diagnostic Code Reference
How to Use This Table
Alert Level Description
Post-processing Signal (robot_sig)
High-Risk Fault Overview
PDU (Drive Control Unit)
Health Management Module
Hardware Abstraction Layer (ECAT, EtherCAT Joint Control)
Perception Module
Hardware Abstraction Layer (Sensors)
SLAM Module
Navigation Module
Motion Control Module
Interaction Module
State Management Module
Mapping Module
Localization Module
Hardware Abstraction Layer (Power)
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
GNSS Topic
Code Examples
Safety Notes
5.4.2 Power Management Unit (PMU)
Core Features
Power Management Topic
Safety Notes
5.5 Perception Module (Optional)
5.5.1 Vision (to be enabled)
5.5.2 SLAM (Optional)
Map Building
Map Retrieval
When to Relocalize
Obtaining Map Identifiers and Coordinates
Programming Examples
5.5.3 Navigation (Optional)
Navigation Task Topic
Interface Specification
Coordinate Conversion
Programming Examples
5.5.4 Data Visualization
Foxglove Visualization
RSView Visualization
RViz Visualization
System Status, Logs, and Communication Visualization
5.6 System Modes and Developer Modes
5.6.1 Check system status
System State Topic
Query System Mode Service
5.6.2 Migrate to Develop mode
5.6.3 Programming example
5.6.4 Technical Details
5.6.5 Safety precautions
6
Example Code
6.1 Python interface usage example
6.1.1 Developer Mode
6.1.2 Get Robot Mode
6.1.3 Set Robot Mode
6.1.4 Set Robot Motion
6.1.5 Gripper Control
6.1.6 Dexterous Hand Control
6.1.7 Dexterous Hand Tactile Data (T2.1 Support)
6.1.8 Register Secondary Development Input Source
6.1.9 Get Current Input Source
6.1.10 Robot Locomotion Control
6.1.11 Joint Motor Control
Robot Joint Control Example
6.1.12 Keyboard Robot Control
6.1.13 Take Photo
6.1.14 Camera Streaming Example Collection
Depth Camera Data Subscription
Stereo Camera Data Subscription
Rear Head Monocular Camera Data Subscription
6.1.15 Head Touch Sensor Data Subscription
6.1.16 LiDAR Data Subscription
6.1.17 IMU Data Subscription
6.1.18 Play Video
6.1.19 Audio File Playback
6.1.20 TTS (Text-to-Speech)
6.1.21 Microphone Audio Reception
6.1.22 Raw Microphone Audio Stream Receiver
6.1.23 Get Current Microphone
6.1.24 Switch Microphone
6.1.25 Raw Audio Stream Playback
6.1.26 Emoji Control
6.1.27 Map Building
6.1.28 Relocalization Using a Map
6.1.29 Retrieve a Stored Map
6.1.30 Navigation
6.1.31 Play LinkCraft Action
6.1.32 Play LinkCraft Action (Multi-Robot)
6.1.33 LED Strip Control
6.1.34 GNSS Positioning Data Subscription
6.1.35 Upper Body Control
6.1.36 Subscribe to HDS Diagnostics / Query Historical Events
6.2 C++ Interface Usage Example
6.2.1 Developer Mode
6.2.2 Get Robot Mode
6.2.3 Set Robot Mode
6.2.4 Set Robot Motion
6.2.5 Gripper Control
6.2.6 Dexterous Hand Control
6.2.7 Dexterous Hand Tactile Data (T2.1 Support)
6.2.8 Register Secondary Development Input Source
6.2.9 Get Current Input Source
6.2.10 Robot Locomotion Control
6.2.11 Joint Motor Control
Robot Joint Control Example
6.2.12 Keyboard Robot Control
6.2.13 Take Photo
6.2.14 Camera Streaming Example Collection
Depth Camera Data Subscription
Stereo Camera Data Subscription
Rear Head Monocular Camera Data Subscription
6.2.15 Head Touch Sensor Data Subscription
6.2.16 LiDAR Data Subscription
6.2.17 IMU Data Subscription
6.2.18 Play Video
6.2.19 Audio File Playback
6.2.20 TTS (Text-to-Speech)
6.2.21 Microphone Audio Reception
6.2.22 Raw Microphone Audio Stream Receiver
6.2.23 Get Current Microphone
6.2.24 Switch Microphone
6.2.25 Raw Audio Stream Playback
6.2.26 Emoji Control
6.2.27 Map Building
6.2.28 Relocalization Using a Map
6.2.29 Retrieve a Stored Map
6.2.30 Navigation
6.2.31 Play LinkCraft Action
6.2.32 Play LinkCraft Action (Multi-Robot)
6.2.33 LED Strip Control
6.2.34 GNSS Positioning Data Subscription
6.2.35 Upper Body Control
6.2.36 Subscribe to HDS Diagnostics / Query Historical Events
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
Simulation and Reinforcement Learning
X2 RL Deployment
1 Usage Instructions
1.1 Prerequisites
1.2 Quick Start
1.3 Run the RL model example
1.4 Directory Structure
1.5 Model Deployment
1.6 Communication Protocol
X2 Sim + MC Deployment
1 X2 MuJoCo Motion-Control Simulation
1.1 Contents
1.2 Software Components
1.3 Prerequisites
1.4 Prepare the Software Directory
1.5 Option 1: Local Deployment
1.6 Option 2: Docker Deployment
1.7 Verify Motion Control
1.8 Stop the Environment
1.9 Troubleshooting
Changelog
Changelog v1.1.0
Newly Released Features
Adjustments to Existing Features
Deprecated / Removed Features
Changelog v1.0.0
Newly Released Features
Adjustments to Existing Features
Deprecated / Removed Features
Changelog v0.9.0
Newly Released Features
Adjustments to Existing Features
Deprecated / Removed Features
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
5.5
Perception Module (Optional)
5.5.1
Vision (to be enabled)
5.5.1
Vision (to be enabled)