diff --git a/orbbec_camera/SDK/include/libobsensor/h/Device.h b/orbbec_camera/SDK/include/libobsensor/h/Device.h
index 1315b40f..4e2fd453 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/Device.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/Device.h
@@ -808,15 +808,6 @@ ob_camera_param ob_camera_param_list_get_param(ob_camera_param_list *param_list,
  */
 void ob_delete_camera_param_list(ob_camera_param_list *param_list, ob_error **error);
 
-/**
- * @brief Get Imu data.
- *
- * @param[in] device Device object
- * @param[in] cb data callback
- * @param[out] error Log error messages
- */
-void ob_device_get_imu_data_ext(ob_device *device, ob_get_imu_data_callback cb, ob_error **error);
-
 /**
  * \if English
  * @brief Get the depth work mode count that ob_depth_work_mode_list hold
diff --git a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
index a4afbdd9..07a61338 100644
--- a/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
+++ b/orbbec_camera/SDK/include/libobsensor/h/ObTypes.h
@@ -1103,7 +1103,6 @@ typedef enum {
 typedef struct {
     /**
      * @brief The sync mode of the device.
-     *
      */
     ob_multi_device_sync_mode syncMode;
 
@@ -1112,8 +1111,8 @@ typedef struct {
      *
      * @attention This parameter is only valid for some models， please refer to the product manual for details.
      */
-
     int depthDelayUs;
+
     /**
      * @brief The delay time of the color image capture after receiving the capture command or trigger signal in microseconds.
      *
@@ -1125,6 +1124,7 @@ typedef struct {
      * @brief The delay time of the image capture after receiving the capture command or trigger signal in microseconds.
      * @brief The depth and color images are captured synchronously as the product design and can not change the delay between the depth and color images.
      *
+     * @attention For Orbbec Astra 2 device, this parameter is valid only when the @ref triggerSignalOutputDelayUs is set to 0.
      * @attention This parameter is only valid for some models to replace @ref depthDelayUs and @ref colorDelayUs, please refer to the product manual for
      * details.
      */
@@ -1144,6 +1144,8 @@ typedef struct {
     /**
      * @brief The delay time of the trigger signal output after receiving the capture command or trigger signal in microseconds.
      *
+     * @attention For Orbbec Astra 2 device, only supported -1 and 0. -1 means the trigger signal output delay is automatically adjusted by the device, 0 means
+     * the trigger signal output is disabled.
      */
     int triggerSignalOutputDelayUs;
 
diff --git a/orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp b/orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp
index c67d713b..4fbc1d64 100644
--- a/orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp
+++ b/orbbec_camera/SDK/include/libobsensor/hpp/Device.hpp
@@ -626,9 +626,9 @@ public:
     const char *supportedMinSdkVersion();
 
     /**
-     * @brief Get the minimum version number of the SDK supported by the device
+     * @brief Get information about extensions obtained from SDK supported by the device
      *
-     * @return const char* returns the minimum SDK version number supported by the device
+     * @return const char* Returns extended information about the device
      */
     const char *extensionInfo();
 
diff --git a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.7 b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.7
index 48f2761e..c5bc9a33 120000
--- a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.7
+++ b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.7
@@ -1 +1 @@
-libOrbbecSDK.so.1.7.1
\ No newline at end of file
+libOrbbecSDK.so.1.7.2
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.7.1 b/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.7.1
deleted file mode 100644
index 90b99635..00000000
Binary files a/orbbec_camera/SDK/lib/arm32/libOrbbecSDK.so.1.7.1 and /dev/null differ
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.7 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.7
index 48f2761e..c5bc9a33 120000
--- a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.7
+++ b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.7
@@ -1 +1 @@
-libOrbbecSDK.so.1.7.1
\ No newline at end of file
+libOrbbecSDK.so.1.7.2
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.7.1 b/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.7.1
deleted file mode 100644
index 261bc459..00000000
Binary files a/orbbec_camera/SDK/lib/arm64/libOrbbecSDK.so.1.7.1 and /dev/null differ
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.7 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.7
index 48f2761e..c5bc9a33 120000
--- a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.7
+++ b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.7
@@ -1 +1 @@
-libOrbbecSDK.so.1.7.1
\ No newline at end of file
+libOrbbecSDK.so.1.7.2
\ No newline at end of file
diff --git a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.7.1 b/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.7.1
deleted file mode 100644
index 0bb80c0d..00000000
Binary files a/orbbec_camera/SDK/lib/x64/libOrbbecSDK.so.1.7.1 and /dev/null differ