Changelog

Version

Date

Update Summary

v0.8.2 (Beta 1.2)

2025.12.10

Motion Control Unit (PC1) is prohibited for secondary development
Migration of ‘SetMcAction/GetMcAction’ interfaces needed
Example tuning and documentation updates
URDF available online
The pitch axis of head is locked
[Details>>]

v0.8.1 (Beta 1.1)

2025.11.11

Example tuning and documentation updates
Light strip control enabled, online SDK documentation added
Interaction camera and playlist features removed
[Details>>]

v0.8.0 (Beta 1.0)

2025.11.06

Changes in some data definitions and topics
Joint motor control, power monitoring, and head touch sensor enabled
Posture control removed
[Details>>]

v0.7.x (Alpha)

-

Will soon be discontinued

Changelog v0.8.2

Newly Released Features

  • URDF available online

Adjustments to Existing Features

  • Taking Motion Control Computing Unit(PC1, 10.0.1.40) as build & run environment for secondary development is strictly prohibited to avoid safety risks

  • Changes on handling some interfaces

    • The numeric ID (McAction) is abandoned in SetMcAction/GetMcAction, instead string field action_desc applied to pass motion mode

  • Example updates

    • Improved handling of shutdown and interrupts

  • Documentation enhancements

    • Added notes on validating trigger-speed thresholds for locomotion after switching the firmware

    • Added notes on following examples (applying protection mechanisms e.g. exception safety and retansmission) to keep away from ROS bugs (esp. on cross-host request/response service)

    • Added notes on file location and access permission for audio/video files used in interaction interfaces

Deprecated / Removed Features

  • The pitch axis of head is locked

Changelog v0.8.1

Newly Released Features

  • Online SDK Documentation: https://x2-aimdk.agibot.com

  • Interaction – LED Strip Control Service: RGB color control and dynamic/mode control for the chest LED light strip

    • /aimdk_5Fmsgs/srv/LedStripCommand

Adjustments to Existing Features

  • Example updates

    • Improved communication workflow in motion-control examples

    • Camera-related examples enhanced for better compatibility with the robot’s internal system environment

  • Documentation enhancements

    • Added explanations for interface frequency, QoS, and bandwidth considerations

    • Added explanation of directional trigger-speed thresholds for locomotion control and reference values

    • Clarified that MC control must be disabled before hand-control operations

    • Additional refinements including path descriptions and terminology unification

Deprecated / Removed Features

  • All interaction-camera interfaces removed: high resource usage made them unsuitable for secondary development; functionalities can be replaced by other cameras. Affected topics/services:

    • /aima/hal/sensor/rgb_head_front_center/camera_info

    • /aima/hal/sensor/rgb_head_front_center/rgb_image

    • /aima/hal/sensor/rgb_head_front_center/rgb_image/compressed

  • Head IMU: hardware changes; now replaced by the depth camera IMU. Affected topics/services:

    • /aima/hal/imu/head/state

  • Playlist functionality temporarily removed for stability improvements. Affected topics/services:

    • /aimdk_5Fmsgs/srv/PlayEmojiGroup

    • /aimdk_5Fmsgs/srv/PlayVideoGroup

Changelog v0.8.0

Newly Released Features

  • Added low-level joint motor control interfaces (supports control and state queries for arms, waist, and legs)

  • Added power-status monitoring interface (battery BMS, 48V/12V output status, fault detection: undervoltage, overcurrent, overheating, short circuit, etc.)

  • Added head-touch sensor subscription interface

  • Added system volume adjustment interface

  • Opened IMU data streams (head / chest / pelvis)

Adjustments to Existing Features

  • Preset motion expansion and ID mapping updates

  • RGB-D Camera

    • Released intrinsic camera-info topics for depth and RGB images

  • Emoji playback upgraded:

    • ROS service-based playback mode officially supported

    • Added emoji status subscription (FaceEmojiStatus.msg)

Deprecated / Removed Features

  • Added robot posture control (McBodyPose.msg)

  • Added available-action query service (GetMcAvailableActions.srv)

Other Updates

  • Topic updates

    • Depth-camera depth-image intrinsics – /aima/hal/sensor/rgbd_head_front/depth_camera_info

    • Depth-camera RGB-image intrinsics – /aima/hal/sensor/rgbd_head_front/rgb_camera_info

    • Emoji playback – /aimdk_5Fmsgs/srv/PlayEmoji

    • Video playback – /aimdk_5Fmsgs/srv/PlayVideo

  • Message definition updates

    • MC multi-input-source management

      1. Updated SetMcInputSource.srv (introduced intermediate McInputSource.msg wrapper)

      2. Updated GetCurrentInputSource.srv (same modification)

    • Text-to-Speech

      1. Updated PlayTts.srv (tty_xx → tts_xx)

      2. Updated TtsResponse (renamed is_success field)

    • Audio playback

      1. Updated PlayMediaFile.srv (renamed request/response headers; tty_resp → tts_resp)

    • Emoji playback

      1. Updated PlayEmoji.srv (priority: uint8 → int32)

    • Video playback

      1. Updated PlayVideo.srv (priority: uint8 → int32)