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title: V2.0 Documentation and Interface Change Notes hideH1: false

This document applies only to A2 Flagship software version 2.0.x.

V2.0 Documentation Update Notes

Date	Update Content	Latest AimDK Package Name
2026-02-12	Release of the A2 Flagship Developer Guide (v2.0)	AimDK-A2-Ultra-V2.0-0212
2026-03-10	The IP address for obtaining the RPC interface for system status in the SM module has been corrected from 192.100.110 to 192.100.100. Corrected the description of the sm.yaml location in the custom operation and control deployment, changing it from orin to x86. Corrected the microphone audio sampling frequency from 24kHz to 16kHz.	AimDK-A2-Ultra-V2.0-0304
2026-03-13	Update finger control command description 7.4 Add camera device release method to sensor data section	AimDK-A2-Ultra-V2.0-0304

V2.0 Interface Change Notes

Compared with version V1.3, this changelog lists interface changes and other modifications with significant impact on secondary development. Incompatible changes are highlighted in bold.

1. Software System Overview

   • The SM (Process State Management) module has been moved from Orin to x86, resulting in changes to the following module-related content.： System Status Section: The IP address for the system status retrieval RPC interface has been changed to 192.168.100.100.

     Custom Operations and Control Deployment Guide: The location of sm.yaml has been changed from orin to x86.

   • HDS (health diagnosis module) has been moved from ORIN to x86.

2. Fault Diagnosis Section

   • The fault code and alert system were redesigned and optimized. Key interface changes are:
   • Removed the ClearAlert interface.
   • Removed the SetShieldAlertLevel interface.
   • Refactored the GetAlertList interface with unchanged invocation method but updated output structure:
     • Deprecated alert state AlertState_Recovering in output field state because ClearAlert was removed.
     • Deprecated alert state AlertState_ExceptionChanged in output field state because exceptions and alerts are now one-to-one and no longer have an exception-updated state.
     • Deprecated output field manual_clear because manual alert clearing is no longer supported.
     • Deprecated show_type because alert display type is now determined by client side based on alert level.
     • Deprecated solution_list because alert solution lists are no longer provided.
     • Deprecated exception list field exception_list because alerts and exceptions are now one-to-one.
     • Adjusted alert level field level with more granular and explicit definitions.
     • Added new output fields: client-facing alert text alert_text and fault module alert_module.

3. Resource Management Section

   • Added the resource management section. Users can create, delete, query, import, and export resources through this module to support robot capability configuration and content customization. See section 7.13 for details.

4. Microphone Management Section

   • Added wake-up result reporting interface /agent/wakeup. Users can configure wake-up mode and modify wake words via this module.

5. Motion Control Section

   • Updated the flagship workflow switch diagram by adding a new flow from enhanced deep sitting to enhanced deep-sit standing.
   • There are currently two types of handheld devices: AgiHand and O10Hand. The handheld control commands have been modified as follows:
     
     • The frame_id field for finger control instructions is now used to identify the hand model; if not entered, it defaults to AgiHand.
       
     • No name field is required now; leaving the name field empty will maintain the default order.

6. Motion Playback Section

   • Added 15 preset motions.

7. Map Management Section

   • Add map creation interface
   • Add stop mapping interface
   • Add map modification interface
   • Add map renaming interface
   • Add interface to retrieve mapping data
   • Add relocalization interface
   • Add interface to set the current working map
   • Add map management UI examples