Changelog

Version

Date

Update Summary

v1.1.0

2026.05.11

New interfaces: upper-body control, motion-control state query, HDS diagnostics, navigation, visualization, containerized development, factory calibration extrinsics, etc.
SetMcAction response now returns a switch result code; depth image no longer aligned with RGB image; PlayTtsResponse adds error_code
From v1.2.0 on, secondary development programs must be built and run inside a container; complete the migration within this release
[Details>>][Details>>]New interfaces: upper-body control, motion-control state query, HDS diagnostics, navigation, visualization, containerized development, etc.
SetMcAction response now returns a switch result code; depth camera D2C alignment removed; PlayTtsResponse adds error_code
[Details>>]New interfaces: upper-body control, motion-control state query, HDS diagnostics, navigation, visualization, containerized development, etc.
SetMcAction response now returns a switch result code
[Details>>]New interfaces: upper-body control, motion-control state query, HDS diagnostics, navigation, visualization, containerized development, etc.
SetMcAction response now returns a switch result code
[Details>>]New interfaces: upper-body control, motion-control state query, HDS diagnostics, navigation, visualization, etc.
SetMcAction response now returns a switch result code
[Details>>]

v1.0.0

2026.03.02

New interfaces: LinkCraft actions, map retrieval, relocalization, audio stream, mic source, etc.
Motion control simulation toolchain, developer mode
Introduced filesystem isolation sandbox
End-effector expansion, message definition and topic/service changes
Depth point cloud removed
[Details>>]

v0.9.0 (Beta 2.0)

2026.02.03

Migration of some interfaces needed
Example tuning and documentation updates
[Details>>]

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 the 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 v1.1.0

Newly Released Features

  • Upper-body control: control head, arms, and hand joints via the /mc/upper_body_command topic (see Upper-body control)

  • Motion-control state query: the /aima/mc/common/state topic (10 Hz) carries full state including input source, action, posture, and speed (see Motion-control state query)

  • Preset-motion state query: GetMcPresetMotionState service

  • Health Diagnostics System (HDS) state interfaces: /aima/hds/diag_code_list, /aima/hds/alert_code_list, /aima/hds/post_proc/signal topics, the GetHdsEventHistory service, and an open diagnostic-code reference table (see Diagnostic code reference)

  • Navigation interfaces (optional): /aima/te/pnc_task_request, /aima/pnc/pnc_task_response, /task_master/state, /perception/grid_map and other topics (see Navigation)

  • Data visualization: Foxglove/RSView/RViz visualization options (see Data visualization)

  • LinkSoul cloud interaction: connect to cloud-based AI interaction capabilities for secondary development (see LinkSoul cloud interaction)

  • Group-control time sync: GroupControlTimeSync service

  • Emoji-group playback: PlayEmojiGroup service

  • Stop audio playback: StopAudioPlay service

  • Power state: /aima/hal/pmu/led_state LED-strip state topic

  • GNSS data: /aima/hal/sensor/gnss topic

  • System state: /aima/sm/system_state topic (1 Hz)

  • Container-based development: use a podman container on the development computing unit to isolate the development environment. The container bind-mounts the host SDK directory, so system packages and dependencies can be installed freely inside the container without affecting the robot’s main system, enabling multiple versions to coexist (see Develop in a Container).

  • Factory calibration parameters: the per-sensor factory calibration file (camera intrinsics/distortion/base->sensor extrinsics, IMU/LiDAR extrinsics) is now documented, for sensor fusion and multi-sensor coordinate transforms (see Factory Calibration Parameters)

Adjustments to Existing Features

  • Motion-mode switch: SetMcAction response now returns an action-switch result code (response.header.code); on failure it returns a specific reject-reason enum value (e.g. posture not allowed, forbidden by safety level, no reachable path), see Motion-mode switch

  • Depth camera: the depth image is no longer aligned with the RGB image, so pixels do not correspond one-to-one. To get an aligned depth image, perform registration in your application (e.g. project using the camera intrinsics/extrinsics).Depth camera: the depth image is no longer aligned with the RGB image (depth_registration is disabled by default). To get an aligned depth image, perform registration in your application (e.g. project using the camera intrinsics/extrinsics).

  • Preset motion: SetMcPresetMotion request adds an input_source field (reserved).SetMcPresetMotion request: added uint64 play_timestamp field (reserved)

  • TTS playback: PlayTtsResponse adds an error_code field to distinguish playback failure reasons (higher-priority playback busy, network disconnected, etc.), see TTS playback.TTS playback: PlayTtsResponse adds an error_code field to distinguish playback failure reasons (higher-priority playback busy, network disconnected, etc.).

  • Secondary development programs move into containers: when developing on the development computing unit, from v1.2.0 on secondary development programs must be built and run inside a container. Non-container development mode (using the SDK directly on the development computing unit host) will have restricted permissions, and system package installation (apt, pip, etc.) will only be supported in container-based development mode; the Host PC / Computing Pack + Cross-Device Networking mode is not affected. Both modes are available in v1.1.0 — migrate secondary development programs into a container within this release: follow Develop in a Container to build the image and start the container, rebuild the SDK and your own programs inside it, and confirm the behavior matches non-container mode.

Deprecated / Removed Features

Changelog v1.0.0

Newly Released Features

  • LinkCraft Actions: resource retrieval and playback (GetRobotResources, ExecuteActionResource)

  • Map Retrieval: fetch stored maps from the robot (GetStoredMapByName)

  • Relocalization: SLAM relocalization functionality (/integrated_command, /relocalization_pose, /slam/lidar_odom)

  • Audio Focus: request and release audio focus (RequestAudioFocus, AbandonAudioFocus)

  • Raw Audio Stream: recording and playback interfaces (AudioCapture, AudioPlayback, AudioData, etc.)

  • Mic Source: query and switch internal/external microphone (GetMicSourceRequest, SetMicSourceRequest)

  • Motion Control Simulation Toolchain: RL model deployment example based on MuJoCo simulation, supports custom reinforcement learning model validation and debugging.

  • Developer Mode: disable native software via system state migration interfaces (MigrateSystemState, GetSystemState) to unlock interaction/autonomous/motion control development privileges.

Adjustments to Existing Features

  • Cross-version user data retention method changed (specific to v1.0 firmware upgrade), directory ‘~/.old_agi_home.bak*’

  • Introduced filesystem isolation sandbox: user programs run in an isolated agi rootfs environment, separated from the system rootfs. Users can freely install packages and dependencies without affecting robot system stability. Limitations: only limited system-level commands are available (e.g. sudo apt, sudo nmcli/nmtui/ifconfig), docker is not yet supported; systemd only supports systemctl --user user-level services; programs in services must be launched via /usr/bin/agirun

  • End Effector

    • Added tactile information (HandTouchSensorData), requires hand hardware support.

  • Scheduled Playback

    • PlayAudioFile supports scheduled play time (play_stamps field, default: play immediately).

    • SetMcPresetMotion supports scheduled execution time (specified via header.stamp; 0 = run immediately).

  • Message definition updates

    • JointState: removed coil_temp, motor_temp, motor_vol; added uint16 error_code.

    • HandStateArray: added HandTouchSensorData touch sensor field.

    • PmuState: added fan speed (fan_speed), fan speed percentage (fan_pecentage), PMU temperature (pmu_temperature).

    • SetMcPresetMotion request: added uint64 play_timestamp field (reserved)

  • Topic/service changes

    • Audio file playback service changed from PlayMediaFile to PlayAudioFile, request structure updated accordingly (see Audio File Playback Service).

    • LED strip control service changed from LedStripCommand to SetPmuLed; added priority, reset_priority, and trace_id fields (see LED Strip Control); run aima em stop-app task_manager on PC1 before use.

Deprecated / Removed Features

  • Depth point cloud topic removed:

    • /aima/hal/sensor/rgbd_head_front/depth_pointcloud

Changelog v0.9.0

Newly Released Features

Adjustments to Existing Features

  • Changes on handling some interfaces

    • Added field source in SetMcAction

    • Added field DomainErrorState state in JointStateArray

    • Added new layer SYSTEM_L7 for TtsPriorityLevel

    • /aimdk_5Fmsgs/srv/PlayVideoGroup available

    • Wake words required for VAD (/agent/process_audio_output)

  • Example updates

    • The omnihand_control examples available

    • Added examples for head touch sensor

    • Updated joint info in motocontrol examples

Deprecated / Removed Features

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 retransmission) 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 the 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 / torso)

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

  • Robot posture control (McBodyPose.msg)

  • 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)