8 Temporary Transitional Solutions Statement

  • During the SDK iteration process, we provide certain temporary methods and temporary notes to support advanced secondary-development requirements, announce interface attributes that are not yet open but will be supported soon, and deprecate certain interfaces/parameters based on system architecture adjustments.

  • In subsequent SDK releases, these transitional solutions will be replaced by a more coherent and fully integrated software–hardware ecosystem. Please stay tuned.

8.1 Disable the Built-in Interaction System and Use Your Own Voice System

By default, when the robot is powered on, it automatically enters natural voice interaction mode, and the interaction module occupies the audio input/output streams. If you need to integrate your own voice system and access the audio streams, you can temporarily disable the built-in interaction module using the steps below. Future versions will support one-click switching to secondary-development interaction mode to further simplify custom voice system integration.

8.1.1 Steps to Temporarily Disable the Built-in Interaction System

  1. Power on the robot.

  2. Switch the interaction mode (disable the LLM) by executing the following command:

    ros2 service call /aimdk_5Fmsgs/srv/SetAgentPropertiesRequest \
  aimdk_msgs/srv/SetAgentPropertiesRequest "
contents:
  properties:
    - key:
        value: 2  # AGENT_PROPERTY_RUN_MODE = 0x02
      value: 'only_voice'
"

    This operation updates the local configuration file and disables the large model.

  3. Restart the agent module for the changes to take effect:

    # Stop the interaction module
aima em stop-app agent

# Start the interaction module in secondary-development mode
aima em start-app agent

  4. You can now subscribe to audio data for secondary development. Refer to the Microphone Data Receiver section for details.

8.1.2 Steps to Restore the Built-in Interaction System

  1. Power on the robot.

  2. Switch back to the normal interaction mode using the following command:

    ros2 service call /aimdk_5Fmsgs/srv/SetAgentPropertiesRequest \
  aimdk_msgs/srv/SetAgentPropertiesRequest "
contents:
  properties:
    - key:
        value: 2  # AGENT_PROPERTY_RUN_MODE = 0x02
      value: 'normal'
"

  3. Restart the agent module:

    aima em stop-app agent

# Start the interaction module in normal mode
aima em start-app agent

  4. The built-in Agibot LLM interaction features can now be used normally.

8.2 Motion State Simplification: Some McAction state codes prior to v0.7.x are no longer supported

Caution

Starting from v0.8, the following motion mode codes must NOT be used. They may still exist temporarily but are no longer guaranteed or open for secondary development.

  • ZERO_TORQUE_DEFAULT: The Chinese name “Zero-Torque Mode” remains, but its corresponding mode is now changed to PASSIVE_DEFAULT.

  • SOFT_EMERGENCY_STOP: Soft emergency stop is no longer an independent motion mode. Use PASSIVE_DEFAULT (zero torque) or DAMPING_DEFAULT (damping mode).

  • JOINT_FREEZE: Deprecated. Use JOINT_DEFAULT (Stand-Ready / Position-Control Standing) for fully locked joints, and DAMPING_DEFAULT for joint damping.

  • STAND_BODY_CONTROL: Deprecated. Use STAND_DEFAULT (Stable Standing).

  • RUN_DEFAULT: Running mode removed. Use LOCOMOTION_DEFAULT instead.