12. V1.3 Version Update Log

The update log will list changes to various interfaces and other modifications that significantly impact secondary development. Incompatible changes will be marked in bold.

AimDK Documentation Refresh
1. Added sections on robot overview, software system overview, and secondary development interface overview to help developers better understand the robot and secondary development.
2. Added a quick start chapter for secondary development to help developers quickly begin calling interfaces and accelerate their development.
3. Added an action playback module and resources in motion control simulation, making it easier for developers to preview preset actions in the simulation.
4. Modified the organization of detailed interface information, changing from internal module differentiation to functional logic differentiation. Each logical function section includes an overview and individual interface documentation, with each interface listed in a separate table, noting input and output parameters, precautions, and example script paths. This makes it easier to find the corresponding functional interfaces and enhances the readability of the documentation.
5. Added a chapter on troubleshooting interface call issues, providing common troubleshooting approaches and adding problem feedback channels.
Sensor Data Module
1. Removed the hal_sensor module and split it into hal_lidar, hal_d415, hal_dcw2, hal_xinying (specific to T3), and tz_camera (specific to P1) based on sensor types.
2. Removed the pb:/aimdk.protocol.CamerasIntrinsicService/GetCamerasIntrinsic interface for obtaining camera intrinsic parameters. Camera intrinsic and extrinsic parameters are now uniformly placed in the /agibot/data/param/calibration/ directory on ORIN.
3. For the T3 machine, the left fisheye camera image has been changed from inverted to upright. The corresponding intrinsic and extrinsic parameters need to be rotated 180 degrees around the Z-axis before use. Refer to the following pseudocode:
  Terminal window
```
function BackLeftToBaseLink(left_type, is_p1) -> Matrix4x4
    T = CalibExtrinsic(left_type)   # BackLeft → BaseLink

    if not is_p1 then
        T_inv = Inverse(T)          # BaseLink → BackLeft
        R180 = diag(-1, -1, 1, 1)   # Rotate 180° (around Z)
        T = Inverse(R180 * T_inv)   # Corrected BackLeft → BaseLink
    end if

    return T
end function
```
4. For the T3 machine, added a new ROS2 topic interface for the middle chest interactive camera, with the topic name /aima/hal/camera/interactive/color and message type sensor_msgs::msg::Image.
5. Opened h264 stream ROS2 topic interfaces for all cameras, with the topic names being the regular color image topic names appended with /h264, and the message type foxglove_msgs::msg::CompressedVideo.
Motion Control Module mc
1. Added the RL_WHOLE_BODY_EXT_ONLINE_PLANNING mode, where the PlanningMove endpoint control interface supports interrupting real-time planning for new targets.
2. Added a series of modes including RL_SIT_DOWN* and RL_STAND_UP*, which work together to achieve autonomous sitting and standing. This feature is currently experimental and not recommended for programmatic use of these mode actions.
3. In the RL_LOCOMOTION_DEFAULT mode, the maximum forward walking speed of the /motion/control/locomotion_velocity interface has been increased from 0.8 m/s to 1.2 m/s.
4. Removed the invalid /motion/control/move_waist_sideways interface, as side movement is not supported in full-body motion modes.
5. Added the /motion/control/waist_state interface to support obtaining waist motion state information.
Motion Player Module motion_player
1. Added EnableNeckMotionPlayer and DisableNeckMotionPlayer interfaces to support not controlling neck motors during upper limb movements, allowing users to control them through the /motion/control/neck_joint_command or SetNeckCommand interfaces.
2. Default resource files have been moved to the /agibot/data/resources/default/motion directory, and the new version of motion files is now .mcap. The parameter passed to SendMotionCommand should include the .mcap suffix, e.g., /agibot/data/resources/default/motion/演讲10s/演讲10s.mcap. Old version .db files can still be used, but the full .db file path must be provided, e.g., /path/to/old_motion_files/演讲10s/演讲10s.db.
Interaction-Related Modules agent, (interaction)
1. Architecture adjustment: the interaction module (HTTP port 59201) has been removed, and the original TTS, audio file playback, status query, and interruption interfaces have been moved to the agent module (HTTP port 59301). A port forwarding from 59201 to 59301 has been added on ORIN, maintaining compatibility with the original access method. It is recommended to switch to accessing the agent’s 59301 port.
2. Added SetAudioVolume and GetAudioVolume interfaces to control and retrieve the robot’s volume.
3. Added SetVoiceEnable and GetVoiceEnable interfaces to control and check whether the robot is in silent mode.
4. Added SetMicSourceRequest and GetMicSourceRequest interfaces to set and check the microphone source (internal or external).
5. Added a face recognition interface /agent/vision/face_id, which outputs real-time face recognition results and supports local and cloud-based face registration and upload.
6. The trace_id logic for the TTS broadcast interface has changed. The trace_id passed in will be returned with a suffix, and queries and interruptions should use the complete trace_id returned.
7. The default path for the file_name parameter of the audio file playback interface has been adjusted, changing from /agibot/data/var/interaction/audio/ to /agibot/data/var/hal_audio/file.
8. The method for completely exiting the Agibot interaction chain has changed. The interaction module no longer exists. Please remove the hal_audio module from the default_apps in /agibot/software/v0/entry/bin/cfg/run_agibot.yaml on ORIN. Set the agent to only_voice or the new voice_face mode (which supports local face database recognition). Refer to the “Speaker Permission Release Method” and “Set Interaction Running Mode RPC Interface” sections in the documentation.
Map Management Module mm
1. Fixed a documentation example error, changing the MappingCommand_GET_STORED_MAP_NAME** **example to MappingCommand_GET_STORED_MAP_NAME.
Resource Management Module Resource Manager
1. Provides open secondary-development interfaces for creating, deleting, retrieving, importing, and exporting resources in the map, emoticon, audio, skill, motion, and creative work modules.
Other Modules
1. Fixed a documentation example error, changing 192.168.100.110 to 192.168.100.100 in examples/other/get_ota_progress.sh and examples/other/get_robot_ota_info.sh.