title: V3.1 Documentation and API Change Notes hideH1: false

This document applies only to A3 software version 3.1.x. Only a limited set of features is currently documented. Additional content, including action control, expression playback APIs, and motion control simulation, will be made available in future updates.

V3.1 Documentation Updates

V3.1 API Change Notes

This changelog lists API changes relative to V3.0, as well as other updates that may significantly affect secondary development. Incompatible changes are highlighted in bold.

1. Secondary Development Deployment
   • Added a wired connection method for the robot. Users can connect the robot to a local machine through this method for secondary development. For detailed steps, refer to the wired robot connection documentation.
2. Motion Control
   • Added a topic API for robot waist control
   • Added a topic API for robot neck control
3. Microphone Management
   • Added an RPC API for switching between internal and external microphones
   • Added an RPC API for retrieving microphone status
   • Updated the internal/external microphone switching API, replacing aimdk.protocol.AgentControlService/GetMicSourceRequest with aimdk.protocol.HalAudioService/SetMicSourceRequest
   • Corrected the description of the noise-reduction microphone audio retrieval API. Noise-reduced audio from the built-in microphone is currently unavailable and will be supported in a future release.
4. Resource Management
   • Added the resource management section. Through this module, users can create, delete, retrieve, import, and export resources to meet robot capability configuration and content customization needs. For supported features, refer to the resource management documentation.
5. Sensor Data
   • Added topic APIs for IMU and camera sensor data
6. System Status Retrieval
   • Added an RPC API for retrieving BMS battery status
   • Added an RPC API for retrieving emergency stop signal status
7. Interaction Development
   • Added usage instructions for the face recognition result topic API
   • Added documentation for LinkSoul-related content
8. Secondary Development Quick Start
   • Corrected the Python virtual environment creation command in 6.1.3, updating python -m venv mydev to python3 -m venv mydev
   • Added 6.4, an example for controlling robot actions
   • Added 6.5, a robot TTS speech playback example
9. System Status
   • Corrected the content in 7.7 System Status, updating the BMS status and emergency stop status descriptions from RPC APIs to topic API descriptions

Issue Feedback Channel

If you encounter bugs related to secondary development APIs, you can submit feedback through the following channel:

https://agirobot.feishu.cn/share/base/form/shrcnLP2tv9gzyrZ2tSDlm1Baif

Notes

This channel is only for secondary development API questions and bug reports. For robot hardware failures, after-sales repair, or related issues, please contact the delivery, operations, or after-sales teams directly. Irrelevant questions will not be answered. Please describe the issue in detail in the form, preferably with reproducible steps. Reports with clear and complete information will be prioritized, while vague or overly general reports may be deprioritized or ignored. Please fill in all fields carefully. Tickets with inconsistent or randomly entered information will be ignored. Each ticket should focus on a single issue or a single category of issues. Do not combine multiple unrelated issues into one ticket, as this will significantly delay processing.