4. Basic Constraints for Secondary Development

There are some basic constraints that must be followed for secondary development based on Expedition A3 Ultra. Violating these constraints may cause damage to the robot's hardware, software, or system. Repairs due to violations of the following agreements are not covered by the warranty:

Do not deploy secondary development programs on the MDU controller. The motion control program runs on the MDU. Deploying programs on the MDU may cause CPU and memory resource contention, and in severe cases, may even cause the robot to fall.
Do not arbitrarily modify the system configuration of the HDU and MDU controllers, such as file system mounting, system scheduling strategies, default UDP/TCP buffer size, and other kernel-related configurations.
Do not arbitrarily modify the configuration of onboard software modules, such as various configurations of motion control and other modules.
Do not arbitrarily modify system software dependencies. It is strictly forbidden to use apt to install or uninstall software.
Do not call RPC interfaces at high frequency, which may cause excessive load on the device and, in severe cases, may cause the robot to fall. It is recommended to set the polling frequency of continuously polled status-type RPC interfaces to 0.2 Hz or less, and the frequency of short-term polling interfaces such as broadcast status queries to below 1 Hz.