X2

Updated Overview

Secondary Development (Ultra)

Motion control upgrade

• 【New】Motion Control Simulation Toolchain: Officially provides an example of deploying a reinforcement learning (RL) model based on the MuJoCo simulation environment, fully supporting developers in validating and debugging custom reinforcement learning models.

• 【New】Lingchuang Action Control: Open up the capabilities for obtaining and playing Lingchuang action resources (involved interfaces: GetRobotResources, ExecuteActionResource).

• 【Adjustment】End-effector adaptation and enhancement:

  • A new haptic information field (HandTouchSensorData) has been added to the HandStateArray data structure, which needs to be used in conjunction with hand hardware that supports this feature.

• 【Adjustment】Timed action execution: The SetMcPresetMotion interface and its request structure have added support for “specified action execution time” (configuration field: uint64 play_timestamp, with a setting value of 0 representing immediate execution).

• 【Adjustment】 Joint state data reduction: The JointState message body removes the original three redundant fields, coil_temp, motor_temp, and motor_vol, and uniformly adds a new error code mechanism (uint16 error_code) to improve the efficiency of underlying troubleshooting.

Interaction Upgrade

• 【New】Audio System and Low-Level Control:

  • Audio Focus: Provides a mechanism for requesting and releasing audio focus (involving interfaces: RequestAudioFocus, AbandonAudioFocus), optimizing multi-task voice conflicts.

  • Raw streaming audio: Open the recording and playback interfaces for raw streaming audio (involved interfaces: AudioCapture,AudioPlayback, AudioData, etc.).

  • Microphone Source Management: Supports querying and switching between the robot’s internal and external microphone sources (related interfaces: GetMicSourceRequest, SetMicSourceRequest).

• 【Adjustment】Timed audio playback: ThePlayAudioFile interface now adds support for “specified playback time” (configuration field:play_stamps, default value: play immediately).

• 【Adjustment】Audio service interface refactoring: The audio file playback service has been replaced from PlayMediaFile to PlayAudioFile, and its corresponding request structure has also been synchronously updated (see the “Audio File Playback Service” document for details).

• 【Adjustment】Reconstruction of the LED strip control service: The LED strip control service has been replaced fromLedStripCommand with SetPmuLed, and three control fields, priority,reset_priority, and trace_id, have been added to the request structure.

⚠️ Strong reminder： Before invoking the new version of the light strip service, you must first execute the command aima em stop-app task_manager on the PC1 side to shut down the original task_manager module.

Permission and operating environment upgrade

• 【New】Developer Mode Support: Allows developers to proactively deactivate native built-in software through the System State Migration Interface (MigrateSystemState), thereby fully opening up development permissions for interaction, autonomous navigation, and operation control.

• 【Adjustment】Introduce the agirun filesystem isolation sandbox: User-level programs will uniformly run in an independent agi rootfs environment, physically separated from the system core rootfs, ensuring system stability.

Restriction Description： In the sandbox, system-level high-privilege operations such as sudo、docker are disabled; systemd only supports user-level services (systemctl --user); when configuring a service, the program must be started via the /usr/bin/agirun path.

Underlying architecture and communication adjustment

• 【Adjustment】DDS Communication Architecture Switch: The underlying communication has been fully switched to the Discovery Server (centralized) mode. If the host computer needs to perform cross-machine ROS communication by directly connecting to the robot via Ethernet cable (such as in the Sim2Real joint debug scenario), a dedicated DDS XML file must be configured to specify the address of the Discovery Server.

• 【Adjustment】Cross-version user data retention mechanism: A special mechanism for upgrading to v1.0.0 firmware, where the data retention directory for the old version has been changed to ~/.old_agi_home.bak*.

Navigation and Visual Perception Upgrade

• 【New】Navigation and SLAM Localization:

  • Map Retrieval: Open the function to retrieve maps stored on the aircraft (related interface: GetStoredMapByName)

  • Relocalization: Enable the open SLAM relocalization function (involving Topics/Interfaces: /integrated_command, /relocalization_pose, /slam/lidar_loc).

• 【Adjustment】Visual Perception Optimization: To optimize system resource utilization, the output resolution of the RGBD depth camera has been lowered to 640x400.

State management and hardware monitoring upgrade

• 【New】System State Management: Open the migration and query functions of system state (related interfaces: MigrateSystemState, GetSystemState).

• 【Adjustment】Power Management Monitoring Enhancement: The PmuState message body has added status fields such as fan speed (fan_speed), fan speed percentage (fan_percentag), and PMU core temperature (pmu_temperature).