3. Overview of the Software System

The robot is equipped with an x86_64 architecture industrial PC, running Ubuntu 22.04, and uses systemd as the system service manager. The agibot_em.service is configured as the entry point for the Agibot software system. This service starts automatically on boot and launches the EM (process startup management) and SM (process status management) modules. The EM and SM then work together to start the remaining module processes. The SM manages the state (start and stop) of process lists under different system modes. The configuration file paths for EM and SM are /agibot/software/v0/entry/bin/cfg/run_agibot.yaml and /agibot/software/v0/entry/bin/cfg/sm.yaml, respectively. The former lists the default processes to be started, while the latter specifies which groups of processes are enabled in each system mode.

The following diagram shows the logical layout of the main processes on the robot, displaying only the primary interaction relationships. Not all processes are started at the same time.

The table below provides explanations for the terms used in the diagram:

	Name	Description/Function
AimMaster	Client Software	Used to operate the basic functions of the robot
OMP	Agibot Cloud Platform	Responsible for receiving and processing telemetry data from the client side
Speaker	Speaker	Used to play sounds
VR	Virtual Reality Device	Used for remote operation of the robot
MCU	Microcontroller	Controls the robot’s motors, receives motor and IMU information, communicates with HAL Ethercat to receive control instructions, and uploads motor and IMU information
MQTT Broker	MQTT Gateway	Gateway node that interfaces with AimMaster and the onboard software
em	Process Management Module	Responsible for starting processes and querying their status
sm	System Status Management Module	Manages system state transitions and controls the process list
iox_roudi	Iceoryx Shared Memory Central Node	Manages the central scheduling for Iceoryx communication
ota_mastersota_slave0ota_gateway	OTA Related Function Modules	Handles downloading OTA packages and executing the OTA process
recordbag0	Data Recording Module	Records diagnostic data packets
setting	System Settings Module	Manages device settings such as WIFI and volume
osmonitor	System Monitoring Module	Monitors system resource usage and basic operational status
resource_manager	Resource Management Module	Manages actions on the robot
skillpilot	Skill Scheduling Module	Manages and arbitrates the execution of basic robot skills
data_exporter	Data Export Module	Compresses and exports diagnostic data packets
reboot0	Reboot Script	Reboots the system when called by the SM
hds	Health Diagnosis Module	Receives and processes fault information from various modules
Interaction	Voice Interaction Module	Used for playing music and prompts, does not handle large model interactions
rc	Remote Control Module	Provides an interface for AimMaster to call basic robot functions such as expressions, movements, and walking
motion_player	Motion Playback Module	Plays specified motion files
motion_streamer	Motion Streaming Module	Dedicated to remote operation, maps VR and motion capture suit data to the robot’s upper limb joint movements
gateway	Gateway Module	Forwards external requests to internal modules, primarily from AimMaster
mc	Motion Control Module	Manages the overall motion control of the robot
hal_ethercat	Hardware Abstraction Layer Module	Communicates with the MCU via EtherCAT, transmitting hardware status and commands
elink_log_dump	EtherCAT Communication Log Module	Logs the communication between hal_ethercat and the MCU

Different sets of software functionalities are enabled under different system modes. The specific configurations are as follows (excerpted from /agibot/software/v0/entry/bin/cfg/sm.yaml):

 system_modes:
    "Startup": # Status Name
      next_mode_list: [ "Ready", "OTA", "Poweroff" ]  # List of Transitionable States
      active_FG_list: [ "System", "EStop", "RC", "MoCap", "Gateway" ]  # List of Functional Groups to Maintain
      action_list:
        - [ DIFF ]

    "Poweroff":
      next_mode_list: []
      active_FG_list: []
      action_list:
        - [ open Poweroff ]

    "Reboot":
      next_mode_list: []
      active_FG_list: []
      action_list:
        - [ open Reboot ]

    "Ready":
      next_mode_list: [ "Manual", "EStop", "Poweroff" ]
      active_FG_list: [ "System", "EStop", "RC", "MoCap", "Gateway" ]
      action_list:
        - [ DIFF ]

    "OTA":
      next_mode_list: [ "Reboot", "Ready", "Poweroff" ]
      active_FG_list: [ "System", "OTA", "Gateway" ]
      action_list:
        - [ DIFF ]

    "Manual":
      next_mode_list: [ "OTA", "Auto", "Reset", "EStop", "Poweroff", "Safe", "MotionStream" ]
      active_FG_list: [ "System", "EStop", "RC", "MoCap", "Gateway", "Motion" ]
      action_list:
        - [ DIFF ]
        - [ activate rc ]
      post_process:
        - level: 47
          action_list: [ [ fallback mc ] ]

    "Reset":
      next_mode_list: [ "Reboot", "Poweroff" ]
      active_FG_list: [ "System", "OTA", "Gateway" ]
      action_list:
        - [ DIFF ]

    "EStop":
      next_mode_list: [ "Ready", "OTA", "Poweroff" ]
      active_FG_list: [ "System", "EStop", "RC", "MoCap", "Gateway" ]
      action_list:
        - [ DIFF ]

    "Safe":
      next_mode_list: [ "Manual", "EStop", "Poweroff" ]
      active_FG_list: [ "System", "EStop", "Gateway", "Motion", "RC", "MoCap"]
      action_list:
        - [ DIFF ]
        - [ deactivate mc, deactivate rc  ]

    # Real-time Teleoperation Status, used for real-time teleoperation
    "MotionStream":
      next_mode_list: [ "Manual", "EStop", "Poweroff" ]
      active_FG_list: [ "System", "EStop", "RC", "Gateway", "Motion", "MoStream" ]
      action_list:
        - [ DIFF ]
        - [ activate rc ]

Upon startup, the system transitions from Startup to Ready and then to Manual. When it reaches the Manual state, the initialization of the onboard software can be considered complete.