Changelog

Version

Date

Update Summary

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 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 v1.0.0

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 Leisai Dexterous Hand support (HandType 0x3).

    • 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 (play_timestamp field, 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 (scheduled start time; 0 = run immediately).

  • 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 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

  • 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)