7.5 Resource Management

7.5.1 Overview

A3-Ultra local resource management currently exposes six types of resources: motions, emoticons, audio, skills, maps, and creative works. Users can create, delete, query, import, and export these resources to meet robot capability configuration and content customization requirements. For detailed supported features, refer to the resource descriptions below.

The following sections describe each resource module and its related functions in detail.

Workflow:

Creation and storage: Users must first place data in the temporary directory /agibot/data/resources/tmp on the HDU node and trigger synchronization through the RPC interface. The system automatically identifies the resource source and persists it into one of the following directories by category:

User-created resource directory: /agibot/data/resources/custom
Default resource directory: /agibot/data/resources/default

Note that the temporary directory /agibot/data/resources/tmp is cleared automatically after the robot restarts. The .gz files generated during export are also part of the tmp directory. Make sure important resources have been synchronized and persisted.

Query and maintenance: The system supports real-time resource queries, including resource lists and detailed resource information. It also provides a delete interface so users can remove resources that are no longer needed and keep resource storage organized and manageable.

Distribution and migration: Users can quickly export and import created resources through the RPC interface, which is suitable for the following scenarios:

Fast resource backup
Batch migration across devices
Efficient reuse of configured resources

Resource description:

Resource Type	Description	Create/Delete	Import/Export	Query	Update	Display Location
Emoticon	Animations displayed on the head LED	✔	✔	✔	✔	AimMaster → Skills → Emoticon
Motion	Mostly upper-body actions such as waving, finger-heart, or thumbs-up	✔	✔	✔	Only `resource_name` can be modified	AimMaster → Skills → Motion
Audio	Robot voice resources	✔	✖	✔	✖	AimMaster → Skills → Voice
Skill	Full-body robot dances	✖	✖	✔	✖	AimMaster → Skills → Talent
Creative Work	Complex and continuous full-body dances or upper-body action performances created by orchestrating emoticon, motion, audio, and skill modules together.	✔	✔	✔	✖	AimMaster → Skills → My Creations
Map	Maps used for robot navigation and localization	✖	✔	✔	✖	AimMaster → Map

All of the resources above are stored on the HDU. Users can use these RPC interfaces together with AimMaster.

7.5.2 Partial Parameter Declarations

resource_type values:

plain

  RESOURCE_TYPE_MOTION = 1;            // Motion
  RESOURCE_TYPE_EMOTICON = 2;          // Emoticon
  RESOURCE_TYPE_AUDIO = 3;             // Audio
  RESOURCE_TYPE_SKILL = 6;             // Skill
  RESOURCE_TYPE_MAP = 7;              // Map
  RESOURCE_TYPE_OFFRING_WORK = 8;      // Creative work

xxx_extra_info declarations:

thrift

// tmp/xxx means the creation path is /agibot/data/resources/tmp
// HDU paths are used during resource creation
// The comment after each field explains when it can be used. If a field is marked as usable during creation,
// include it when creating the resource. Fields not marked for creation do not need to be provided.

 /**
 * @brief Emoticon extra information
 */
 //resource_type=RESOURCE_TYPE_EMOTICON
 "emoticon_extra_info" { 
    "display_name" { 
      "zh_CN": "Right-hand heart gesture",
      "en_US": "Finger heart_right hand",
    }, // Display names in Chinese and English, format: map<string, string> (query)
  "emoticon_file_url": "tmp/e.mp4",  // Emoticon file URL (create/query/update). tmp/xxx means /agibot/data/resources/tmp on the HDU
  "thumbnail_file_url": "tmp/t.mp4", // Thumbnail file URL (create/query/update)
  "cover_file_url" = "tmp/1.png",     // Cover image URL (create/query/update)
}

/**
 * @brief Motion extra information
 */
 //resource_type=RESOURCE_TYPE_MOTION
 "motion_extra_info":{
      "record_file_path":"/agibot/data/home/agi/test/right_hand_thumbs_up_long", // Recording file path on the HDU. "test" is the folder name and "right_hand_thumbs_up_long" is the .macp file name (used only during creation)
      "display_name" { 
          "zh_CN": "Right-hand heart gesture",
          "en_US": "Finger heart_right hand",
      }, // Display names in Chinese and English (query)
      "cover_file_url": ""  ,  // Preview image URL (query)
      "preview_video_url":"" ,// Preview video URL (query)
}

/**
 * @brief Audio extra information
 */
 //resource_type=RESOURCE_TYPE_AUDIO 
"audio_extra_info": { 
  "audio_file_url" :"" // Audio file URL (create/query)
  "display_name" {
      "zh_CN": "",
      "en_US": "",
  }, // Display names in Chinese and English (query)
  "cover_file_url":"" ,// Preview image URL (query)
}

/**
 * @brief Creative work extra information
 */
  //resource_type=RESOURCE_TYPE_OFFRING_WORK
"offring_work_extra_info": {
    "cover_file_url": "",// Cover file URL (query)
    "preview_video_url": "",// Preview file URL (query)
    "display_name": {
        "display_name_zh": "Test creative work",
        "display_name_en": "Test Creative Work"
    },// Display names in Chinese and English (query)
    "motions": [
        {
        // Use NormalMotion when the resource in motions.resources is a motion resource.
        // Use WholeBodyDance when the resource is a talent/skill resource. An example is shown below as well.
            "type": "NormalMotion", 
            "resources": [
                {
                    "source_type": 1,   // 1 means SKILL_DETAIL_SOURCE_TYPE_LOCAL_RESOURCE (local resource), 2 means SKILL_DETAIL_SOURCE_TYPE_SKILL_PACKAGE_RESOURCE (resource included in a skill package)
                    "path": "/agibot/data/resources/custom/motion/pose_i_am_super_strong/pose_i_am_super_strong.mcap"// Resource file path on the HDU
                }
            ]
        }
    ],
    "emoticons": [
        {
            
            "resources": [
                {
                    "source_type": 1,
                    "path": "/agibot/data/resources/custom/emoticon/emoticon_guiding/emoticon.mp4" 
                }
            ]
        }
    ],
    "audios": [
        {
            "resources": [
                {
                    "source_type": 1,
                    "path": "/agibot/data/resources/custom/audio/test/test.wav"
                }
            ]
        }
    ],
}
/**
 * @brief Creative work extra information
 */    
 //resource_type=RESOURCE_TYPE_OFFRING_WORK
"offring_work_extra_info": {
    "cover_file_url": "",
    "preview_video_url": "",
    "display_name": {
        "display_name_zh": "Test creative work",
        "display_name_en": "Test Creative Work"
    },
    "motions": [
        {
        // When the resource in motions is a talent/skill resource, refer to the following example
            "type": "WholeBodyDance",
            "resources": [
                {
                    "source_type": 1,
                    "path": "Acceleration Moment"
                }
            ]
        }
    ],
    "emoticons": [
        {
            
            "resources": [
                {
                    "source_type": 1,
                    "path": "/agibot/data/resources/custom/emoticon/emoticon_guiding/emoticon.mp4"
                }
            ]
        }
    ],
    "audios": [
        {
            "resources": [
                {
                    "source_type": 1,
                    "path": "/agibot/data/resources/custom/audio/test/test.wav"
                }
            ]
        }
    ],
}
/**
 * @brief Map extra information
 */
  //resource_type=RESOURCE_TYPE_MAP
  "map_extra_info": {
    "map_info": {
      "index": 2,
      "map_path": "/agibot/data/var/MapManagerModule/1762584133656/",
      "width": 1216.0,  // Map width and height, in pixels
      "height": 1262.0,
      "resolution": 20.0, // Actual distance represented by each pixel, in millimeters
      "origin": {
        "u": 524,  // Column index of the world coordinate origin on the map
        "v": 594   // Row index of the world coordinate origin on the map
      }
    },
    "topology_info": [  // Topology information, mainly storing robot navigation point information, corresponding to AimMaster → Map → Point settings
      {
        "topo_msg": {
          "cur_path_id": 0,
          "cur_point_id": 1,
          "cur_region_id": 0,
          "hr_points": null,
          "navi_points": [
            {
              "id": 1,
              "name": "Waypoint 1",
              "pose": {  
                "x": 7.85,  // Unit: meter
                "y": -2.15,
                "theta": -2.503741636798901 // Unit: radian
              },
              "type": 1
            }
          ],
          "paths": null,
          "qr_points": null,
          "regions": null,
          "rotate_angle": 6.001279822735171,
          "user_name": "",
          "user_sn": 0
        },
        "user_name": ""
      }
    ]
  },

7.5.3 Create Resource

Interface Name	`pb:/aimdk.protocol.ResourceService/CreateResource`
Overview	Create resource
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:51049/rpc/aimdk.protocol.ResourceService/CreateResource
Input	text `{ "header": { "timestamp": { "seconds": "0", "nanos": 0, "ms_since_epoch": "1744598548952" }, "control_source": 0 }, "resource":{ "duration":3000, "resource_name": "test", "resource_type": 2, "tags":["showroom_guide","dynamic_obstacle_avoidance"], "emoticon_extra_info":{ "emoticon_file_url":"tmp/e.mp4", "thumbnail_file_url":"tmp/t.mp4", "cover_file_url":"tmp/1.png" } } }` `resource_type`: You can provide either the numeric value or the enum name. For example, `2` corresponds to `RESOURCE_TYPE_EMOTICON`. For the full mapping, refer to section 7.5.2. Using the enum name is recommended; numeric values are kept only for compatibility. `resource_name`: Resource name `tags`: Tags The `xxxx_extra_info` field must match `resource_type`. See the partial parameter declarations for details. After a resource is created, it is assigned a `resource_id`. This field is auto-incremented by the system and does not need to be provided during creation.
Output	text `{ "header": { "code": "0", "msg": "Resource create success", "trace_id": "", "domin": "" } }` The output content is consistent with the Get Resource List interface. On success, `msg` is `Resource create success`. On failure, `msg` is `Failed to create emoticon`. The resource type in the message changes according to the actual resource type, for example `motion` for motion resources.
Example Script	examples/resource_manager/CreateResource.py
Remarks	Skill resources cannot be created.

7.5.4 Delete Resource

Interface Name	`pb:/aimdk.protocol.ResourceService/DeleteResource`
Overview	Delete a resource
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:51049/rpc/aimdk.protocol.ResourceService/DeleteResource
Input	text `{ "header": { "timestamp": { "seconds": "0", "nanos": 0, "ms_since_epoch": "1744598548952" }, "control_source": 0 }, "resource":{ "resource_name": "test", "resource_type": 2, "resource_id": "1", } }` Either `resource_id` or `resource_name` must be provided. `resource_type` must be provided; otherwise all resources are deleted by default. For example, `2` means `RESOURCE_TYPE_EMOTICON`. See section 7.5.2 for details.
Output	text `{ "header": { "code": "1441801", "msg": "Resource delete success", "trace_id": "", "domin": "" } }` On success, `msg` is `Resource delete success`. On failure, `msg` is `Failed to delete resource`.
Example Script	examples/resource_manager/DeleteResource.py
Remarks	Deleting skill resources is not supported.

7.5.5 Update Emoticon Resource

Interface Name	`pb:/aimdk.protocol.ResourceService/UpdateResource`
Overview	Update a resource
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:51049/rpc/aimdk.protocol.ResourceService/UpdateResource
Input	text `{ "header": { "timestamp": { "seconds": "0", "nanos": 0, "ms_since_epoch": "1744598548952" }, "control_source": 0 }, "resource": { "resource_id": 10001, "resource_type": "RESOURCE_TYPE_EMOTICON", "resource_name": "2222222222222222", "emoticon_extra_info":{ "emoticon_file_url":"", "thumbnail_file_url":"", "cover_file_url":"" } } }` Except for emoticon resources, motion resources can only update `resource_name`. Updating other resource types is not currently supported. If you attempt to update other resource types, the output may still indicate success, but the resource information will remain unchanged when queried. Modifying `resource_id` or `resource_type` is not supported.
Output	text `{ "header": { "code": "0", "msg": "Resource update success", "trace_id": "", "domin": "" } }` On success, `msg` is `Resource update success`. On failure, `msg` is `Failed to get original resource`, usually because `resource_id` was entered incorrectly.
Example Script	examples/resource_manager/UpdateResource.py
Remarks

7.5.6 Get Resource List

Interface Name	`pb:/aimdk.protocol.ResourceService/GetResourceList`
Overview	Get the resource list
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:51049/rpc/aimdk.protocol.ResourceService/GetResourceList
Input	text `{ "header": { "timestamp": { "seconds": "0", "nanos": 0, "ms_since_epoch": "1744598548952" }, "control_source": 0 }, "resource_type": "RESOURCE_TYPE_EMOTICON", }` `resource_type`: Refer to section 7.5.2 for the available `resource_type` values.
Output	text { "header": { "code": "0", "msg": "Resource list get success", "trace_id": "", "domin": "" }, "resources": [ { "id": 36, "resource_id": 16, "resource_key": "", "resource_version": "", "resource_name": "emoticon_language_change", "duration": 3000, "resource_type": "RESOURCE_TYPE_EMOTICON", "resource_path": "/agibot/data/resources/default/emoticon/emoticon_language_change/emoticon.mp4", "source": "default", "charge_type": "CHARGE_TYPE_FREE", "is_change": false, "create_time_stamp": "1767785325", "update_time_stamp": "1767785325", "expire_time_stamp": "0", "last_used_time_stamp": "0", "md5": "4a605dcb92af92adeaf874e1e4970ea2", "description": "Emoticon used when switching between Chinese and English", "tags": [], "scenes": [], "emoticon_extra_info": { "display_name": { "zh_CN": "Language Switch", "en_US": "Language switch" }, "emoticon_file_url": "default/emoticon/emoticon_language_change/emoticon.mp4", // Under /agibot/data/resources/ on ORIN "thumbnail_file_url": "default/emoticon/emoticon_language_change/thumbnail.mp4", "cover_file_url": "default/emoticon/emoticon_language_change/cover.png" }, "usagerights": ["Agent"] }, { "id": 51, "resource_id": 22, "resource_name": "emoticon_voice_rejection", "duration": 4000, "resource_type": "RESOURCE_TYPE_EMOTICON", "description": "Used when user speech is rejected; intended for voice interaction only", "emoticon_extra_info": { "display_name": { "zh_CN": "Speech Rejection", "en_US": "Voice rejection" } }, "usagerights": ["Agent", "AimMaster"] } // ... several resources omitted here ], "tags": [], "scenes": [ "normal-emoticon_list", "task-associated_emoticon" ], "usagerights": [ "Agent", "AimMaster" ] } `resource_id`: Resource ID `resource_name`: Resource name `double duration`: Resource duration in milliseconds. This does not need to be provided when importing or creating through AimMaster, but it must be provided when creating directly through the API without import. `resource_type`: Resource type. See section 7.5.2. `resource_path`: Resource path `source`: Resource source. Currently only `custom` and `default` are supported. `is_change`: Whether modification is supported `create_time_stamp`: Creation timestamp `update_time_stamp`: Update timestamp `md5`: MD5 of the primary resource file `description`: Description `tags`: Tags `scenes`: Scenes `emoticon_extra_info`: One of the `xxx_extra_info` fields described in section 7.5.2. `usagerights`: Usage permissions The remaining output fields are redundant and can generally be ignored.
Example Script	examples/resource_manager/GetResourceList.py
Remarks

7.5.7 Get Single Resource Information

Interface Name	`pb:/aimdk.protocol.ResourceService/GetResource`
Overview	Get information about a resource
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:51049/rpc/aimdk.protocol.ResourceService/GetResource
Input	text `{ "header": { "timestamp": { "seconds": "0", "nanos": 0, "ms_since_epoch": "1744598548952" }, "control_source": 0 }, "resource_type": "RESOURCE_TYPE_EMOTICON", "resource_id": "1", "resource_name": "emoticon_prompt_words" "source": "custom" }` `resource_type`: `RESOURCE_TYPE_EMOTICON` indicates the emoticon type. The type definition is the same as in Get Resource List. `resource_type`: Required. `resource_id`: Corresponds to the `resource_id` returned in the resource list. `resource_name`: Corresponds to the `resource_name` returned in the resource list. `source`: Indicates the resource source, either `custom` or `default`. Resources created through RPC are generally `custom`. Either `resource_id` or `resource_name` must be provided. If `resource_name` is provided, `source` must also be provided. The default `source` is `default`. Resources created through RPC must use `source=custom`. If `resource_id` is provided, `source` is not required. Using `resource_id` is recommended.
Output	text { "header": { "code": "0", "msg": "Resource get success", "trace_id": "", "domin": "" }, "resource": { "id": 34, "resource_id": 1, "resource_key": "", "resource_version": "", "resource_name": "emoticon_prompt_words", "duration": 3000, "resource_type": "RESOURCE_TYPE_EMOTICON", "resource_path": "/agibot/data/resources/default/emoticon/emoticon_prompt_words/emoticon.mp4", "source": "default", "charge_type": "CHARGE_TYPE_FREE", "is_change": false, "create_time_stamp": "1767785325", "update_time_stamp": "1767785325", "expire_time_stamp": "0", "last_used_time_stamp": "0", "md5": "efc6bbed41993c078f85cd9231365544", "description": "Typically used in explanatory scenarios to tell the user the robot's current wake word", "tags": [], "scenes": [], "emoticon_extra_info": { "display_name": { "zh_CN": "Wake Word", "en_US": "Prompt words" }, "emoticon_file_url": "default/emoticon/emoticon_prompt_words/emoticon.mp4", "thumbnail_file_url": "default/emoticon/emoticon_prompt_words/thumbnail.mp4", "cover_file_url": "default/emoticon/emoticon_prompt_words/cover.png" }, "usagerights": [ "Agent" ] } } The output content is consistent with the Get Resource List interface.
Example Script	examples/resource_manager/GetResource.py
Remarks

7.5.8 Export Resource

Interface Name	`pb:/aimdk.protocol.ResourceService/ResourceMigrationOut`
Overview	Export resources
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:51049/rpc/aimdk.protocol.ResourceService/ResourceMigrationOut
Input	text `{ "header": { "timestamp": { "seconds": "0", "nanos": 0, "ms_since_epoch": "1744598548952" }, "control_source": 0 }, "resource_type": "RESOURCE_TYPE_EMOTICON", "resource_list": ["sample_resource"] }` `resource_list`: Fill in the `resource_name` values of the resources to export. Multiple names can be provided at once, but they must belong to the same resource category. If not provided, all resources of that category are exported. `resource_id` is not supported here. Only motion and emoticon resources can be exported.
Output	text `{ "header": { "code": "0", "msg": "Resource migration out processing!", "trace_id": "", "domin": "" }, "migration_type": "MIGRATION_TYPE_UNKNOWN", "task_id": "f3da3e78-1cb5-47ed-9c11-593030d2fe80" }` The export file directory can be checked through the migration status interface and is usually under `/agibot/data/resources/tmp`. If `resource_list` contains a resource that does not exist, the response returns `"msg": "No resource found"`. `task_id`: Used to query the migration file name through the migration status interface. `migration_type` is currently unused.
Example Script	examples/resource_manager/ResourceMigrationOut.py
Remarks

7.5.9 Import Resource

Interface Name	`pb:/aimdk.protocol.ResourceService/ResourceMigrationIn`
Overview	Import resources
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:51049/rpc/aimdk.protocol.ResourceService/ResourceMigrationIn
Input	text `{ "header": { "timestamp": { "seconds": "0", "nanos": 0, "ms_since_epoch": "1744598548952" }, "control_source": 0 }, "migration_file": { "file_url": "tmp/1767839589.gz" } }` `file_url`: Located under `/agibot/data/resources/tmp`. There is no `type` parameter.
Output	text `{ "header": { "code": "0", "msg": "Resource migration task status get success", "trace_id": "", "domin": "" }, "task_id":"23123123" }`
Example Script	examples/resource_manager/ResourceMigrationIn.py
Remarks

7.5.10 Migration Status

Interface Name	`pb:/aimdk.protocol.ResourceService/GetResourceMigrationTaskStatus`
Overview	Resource migration status
Interface Type	HTTP JSON RPC
URL	http://10.42.10.10:51049/rpc/aimdk.protocol.ResourceService/GetResourceMigrationTaskStatus
Input	text `{ "header": { "timestamp": { "seconds": "0", "nanos": 0, "ms_since_epoch": "1744598548952" }, "control_source": 0 }, "task_id": "65987072-f9e6-495f-99ed-df1a437fd337" }` `task_id`: Obtained from the output of the resource export interface.
Output	text `{ "header": { "code": "0", "msg": "Resource migration task status get success", "trace_id": "", "domin": "" }, "status": "MIGRATION_TASK_STATUS_COMPLETED", "migration_file": { "file_url": "tmp/1765265387.gz", "client_md5": "ce857c64507b1d8c19cbfccb3bc9106b" } }` `file_url`: Directory of the exported file, usually under `/agibot/data/resources/tmp`. On x86, the exported file can be downloaded with `wget http://10.42.10.10:64515/tmp/1769135144.gz`.
Example Script	examples/resource_manager/GetResourceMigrationTaskStatus.py
Remarks