AimDK_X2
  • 1 About AgiBot X2
    • 1.1 Product Overview
      • 1.1.1 X2 Ultra Edition
    • 1.2 Robot Specifications
      • 1.2.1 X2 Series Parameter
    • 1.3 On-board Computer
      • 1.3.1 Standard Computing Units
      • 1.3.2 Development Computing Unit Specifications
    • 1.4 User Debug Interfaces (Ultra Edition)
    • 1.5 Secondary Development Interfaces (Ultra Edition)
    • 1.6 Sensor Field of View
    • 1.7 Joint Limit Description
      • 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
  • 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 Complete the basic system configuration
    • 4.3 Network connection
    • 4.4 Environment installation and configuration
    • 4.5 Run an Example Program
      • 4.5.1 Get the Robot’s Current State
      • 4.5.2 Make the Robot Wave
    • 4.6 Code Implementation
      • 4.6.1 Project Overview
      • 4.6.2 Add the Example to the Existing SDK Workspace
        • Understand the Existing Structure
        • Add a New Python Example
      • 4.6.3 Write the Control Code
        • Create the Robot Control Class
        • Add the Main Entry Point
        • Register in the Build System
      • 4.6.4 Build and Run
        • Build the Project
        • Run the Project
      • 4.6.5 Code Walkthrough
        • Robot Control Class
      • 4.6.6 Extensions and Optimization
        • Add More Actions and Interactions
        • Add Parameter Configuration
        • Add Error Handling
        • Add More Interaction Features
      • 4.6.7 Troubleshooting
      • 4.6.8 Next Steps
      • 4.6.9 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
        • Input Source Configuration
        • Arbitration Workflow
        • Input Source Management Services
        • Programming Examples
        • Notes
      • 5.1.4 Preset Motion Control
        • Preset Motion Control Service
        • Programming Examples
        • Safety Notes
      • 5.1.5 End Effector Control
        • Hand Control Features
        • Hand Control Topics
        • Hand Status Topics
        • Hand Type Query Service
        • Programming Examples
        • Safety Notes
      • 5.1.6 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
        • Speech Synthesis Services
        • Audio File Playback Service
        • MIC Audio Stream Capture Topic
        • 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
        • Programming Examples
    • 5.3 Fault & System Management Module (Coming Soon)
      • 5.3.1 Fault Handling (Coming Soon)
      • 5.3.2 Permission Management (Coming Soon)
    • 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
        • Code Examples
        • Safety Notes
      • 5.4.2 Power Management Unit (PMU)
        • Core Features
        • Power Management Topic
        • Safety Notes
    • 5.5 Perception Module (Coming Soon)
      • 5.5.1 Vision (Coming Soon)
      • 5.5.2 SLAM (Coming Soon)
  • 6 Example Code
    • 6.1 Python interface usage example
      • 6.1.1 Get robot mode
      • 6.1.2 Set robot mode
      • 6.1.3 Set robot action
      • 6.1.4 Gripper control
      • 6.1.5 Dexterous hand control (under upgrade, not available)
      • 6.1.6 Register custom input source
      • 6.1.7 Get current input source
      • 6.1.8 Control robot locomotion
      • 6.1.9 Joint motor control
        • Robot joint control example
      • 6.1.10 Keyboard control
      • 6.1.11 Take photo
      • 6.1.12 Camera stream examples
        • Depth camera data subscription
        • Stereo camera data subscription
        • Head rear monocular camera data subscription
      • 6.1.13 LiDAR data subscription
      • 6.1.14 Play video
      • 6.1.15 Media file playback
      • 6.1.16 TTS (Text-to-Speech)
      • 6.1.17 Microphone data reception
      • 6.1.18 Emoji (expression) control
      • 6.1.19 LED light strip control
    • 6.2 C++ Interface Usage Example
      • 6.2.1 Get Robot Mode
      • 6.2.2 Set Robot Mode
      • 6.2.3 Set Robot Motion
      • 6.2.4 Gripper Control
      • 6.2.5 Dexterous Hand Control (Unavailable During Upgrade)
      • 6.2.6 Register Secondary Development Input Source
      • 6.2.7 Get Current Input Source
      • 6.2.8 Robot Locomotion Control
      • 6.2.9 Joint Motor Control
        • Robot Joint Control Example
      • 6.2.10 Keyboard Control of the Robot
      • 6.2.11 Take Photo
      • 6.2.12 Camera Streaming Example Collection
        • Depth Camera Data Subscription
        • Stereo Camera Data Subscription
        • Rear Head Monocular Camera Data Subscription
      • 6.2.13 LiDAR Data Subscription
      • 6.2.14 Play Video
      • 6.2.15 Media File Playback
      • 6.2.16 TTS (Text-to-Speech)
      • 6.2.17 Microphone Audio Reception
      • 6.2.18 Emoji Control
      • 6.2.19 LED Strip Control
  • 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
  • Changelog
    • 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
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