generated: '2026-08-06'
method: searched
source: https://github.com/Link-U-OS/aimrt_protocol
commit: 03263afbbe05b224e2525c70c7ec74afb119cecc
fetched: '2026-08-06'
license: Mulan Permissive Software License v2 (Mulan PSL v2)
notes: First-party AgiBot Protocol Buffers contract for the AimDK / Link-U OS robot interface. Files carry
  the header "Copyright (c) 2025, AgiBot Inc." and are saved verbatim under grpc/aimdk/protocol/ with
  the upstream directory layout preserved so the proto import paths resolve. The same upstream repository
  also publishes 14 ROS 2 .msg and 19 .srv interface definitions, which are not copied here.
x-evidence:
  url: https://github.com/Link-U-OS/aimrt_protocol
  http_status: 200
  fetched: '2026-08-06'
  tarball: https://codeload.github.com/Link-U-OS/aimrt_protocol/tar.gz/refs/heads/main
syntax: proto3
package: aimdk.protocol
runtime:
  framework: AimRT
  url: https://aimrt.org/
  repository: https://github.com/AimRT/AimRT
  transports:
  - grpc
  - ros2
  - http
  - tcp
  - udp
  - mqtt
  - zenoh
  - iceoryx
  - shared-memory
  note: AimRT is AgiBot’s in-house C++20 robotics runtime; AimDK protobuf messages are carried over its
    RPC and channel backends.
counts:
  proto_files: 136
  services: 33
  rpcs: 175
  messages: 427
  enums: 61
  ros2_msg: 14
  ros2_srv: 19
domains:
- domain: demo
  description: Reference/demo service and channel.
  services:
  - service: DemoService
    file: grpc/aimdk/protocol/demo/demo_service.proto
    rpcs:
    - GetLatestBall
- domain: hal
  description: Hardware abstraction layer — hands, arms, audio, lighting, neck, battery, temperature,
    sensors, emergency stop, operation mode, MCU faults.
  services:
  - service: HalPowerService
    file: grpc/aimdk/protocol/hal/power/hal_power_service.proto
    rpcs:
    - ResetPower
    - ShutDownDevice
    - GetDevicePowerState
  - service: HalHandService
    file: grpc/aimdk/protocol/hal/hand/hal_hand_service.proto
    rpcs:
    - GetHandState
    - SetHandCommand
  - service: CamerasIntrinsicService
    file: grpc/aimdk/protocol/hal/sensors/cameras_intrinsic.proto
    rpcs:
    - GetCamerasIntrinsic
  - service: CameraSnapshotsService
    file: grpc/aimdk/protocol/hal/sensors/cameras_snapshot.proto
    rpcs:
    - GetCameraSnapshots
  - service: CameraService
    file: grpc/aimdk/protocol/hal/sensors/rs2_camera.proto
    rpcs:
    - GetCameraInfo
    - GetCameraData
  - service: HalTempService
    file: grpc/aimdk/protocol/hal/temp/hal_temp_service.proto
    rpcs:
    - GetTempState
  - service: HalBmsService
    file: grpc/aimdk/protocol/hal/bms/hal_bms_service.proto
    rpcs:
    - GetBmsState
    - SetBmsMosfeCommand
    - GetPowerState
  - service: HalEmergencyService
    file: grpc/aimdk/protocol/hal/state/hal_emergency_service.proto
    rpcs:
    - GetEmergencyState
    - SetEmergencyCommand
  - service: HalOperationModeService
    file: grpc/aimdk/protocol/hal/state/hal_operation_mode_service.proto
    rpcs:
    - GetOperationModeState
    - SetOperationModeCommand
  - service: HalAudioService
    file: grpc/aimdk/protocol/hal/audio/hal_audio_service.proto
    rpcs:
    - PlayFile
    - StopPlay
    - SetAudioVolume
    - GetAudioVolume
  - service: HalNeckService
    file: grpc/aimdk/protocol/hal/neck/hal_neck_service.proto
    rpcs:
    - GetNeckState
    - SetNeckCommand
  - service: HalRgbLightService
    file: grpc/aimdk/protocol/hal/light/hal_light_service.proto
    rpcs:
    - GetRgbLightState
    - SetRgbLightCommand
  - service: HalFillLightService
    file: grpc/aimdk/protocol/hal/light/hal_light_service.proto
    rpcs:
    - GetFillLightState
    - SetFillLightCommand
  - service: HalLightStripService
    file: grpc/aimdk/protocol/hal/light/hal_light_service.proto
    rpcs:
    - GetLightStripState
    - SetLightStripCommand
  - service: A2wArmControlService
    file: grpc/aimdk/protocol/hal/jaka/jaka.proto
    rpcs:
    - GetJointPosition
    - JointMove
    - LinearMove
    - GetRobotState
    - GetRobotStatus
    - IsInPos
    - IsOnLimit
    - GetTcpPosition
    - KineForward
    - KineInverse
    - ClearError
    - GetLastError
    - IsInCollision
    - CollisionRecover
    - GetCollisionLevel
    - SetCollisionLevel
    - EnableServoControl
    - EnableTorqueControl
    - SetInstallationAngle
    - GetInstallationAngle
    - EnableAdmittanceCtrl
    - SetFtCtrlFrame
    - DisableForceControl
    - SetCompliantType
    - SetTorqueSensorMode
    - SetAdmitCtrlConfig
    - EnableDragMode
    - IsInDragMode
    - SetGravityDirection
    - GetGravityDirection
    - SetLpfFilter
    - SetNoneFilter
    - MockJakaErrorCode
    - GetJakaStatusLowBattery
  - service: HalFaultService
    file: grpc/aimdk/protocol/hal/fault/hal_fault_service.proto
    rpcs:
    - ClearMcuFault
- domain: hds
  description: Health and diagnostics — alerts, exceptions, process health and heartbeat, system status,
    monitoring.
  services:
  - service: HDSService
    file: grpc/aimdk/protocol/hds/hds_service.proto
    rpcs:
    - GetAlertList
    - ClearAlert
    - GetTotalAlertList
    - GetAlertCount
    - GetExceptionEvent
    - SetShieldAlertLevel
    - SetDebugMode
    - SetBlockExceptionCode
    - GetBlockedExceptionCodeList
  - service: MonitorService
    file: grpc/aimdk/protocol/hds/monitor/monitor_service.proto
    rpcs:
    - SetShieldHeartbeatAlert
    - GetProcessInfo
    - GetProcessAliveInfo
- domain: em
  description: Embodied application lifecycle service (start/stop/query robot applications).
  services:
  - service: EmAppService
    file: grpc/aimdk/protocol/em/api.proto
    rpcs:
    - StartApp
    - StartApps
    - StopApp
    - StopApps
    - GetAppInfo
    - GetAllAppInfos
- domain: mc
  description: Motion control — locomotion, joints, servos, kinematics, force control, safety, actions,
    planning, simulation and teleoperation.
  services:
  - service: McService
    file: grpc/aimdk/protocol/mc/mc_service.proto
    rpcs:
    - GetTaskState
    - GetJointState
    - GetJointParam
    - GetJointCommand
    - GetJointAngle
    - GetTcpPosition
    - GetMotionGPTStatus
    - GetPlanningGroupAvailable
    - KineForward
    - KineInverse
    - JointMove
    - LinearMove
    - Se3PoseMove
    - PlanningMove
    - GetAimMasterControlSource
    - SetAimMasterControlSource
    - SetAimMasterControlCommand
    - CollisionRecover
    - GetSimulationObj
  - service: McToolService
    file: grpc/aimdk/protocol/mc/tools/mc_tools_service.proto
    rpcs:
    - AddToolsConfig
    - GetToolConfig
    - SetRobotTool
    - GetRobotTool
    - SetPayload
  - service: McTestService
    file: grpc/aimdk/protocol/mc/test/mc_test_service.proto
    rpcs:
    - GetPlanningMoveTarget
  - service: McServoService
    file: grpc/aimdk/protocol/mc/servo/mc_servo_service.proto
    rpcs: []
  - service: McSimulationService
    file: grpc/aimdk/protocol/mc/simulation/mc_simulation_service.proto
    rpcs:
    - GetSimulationObj
  - service: McMotionService
    file: grpc/aimdk/protocol/mc/motion/mc_motion_service.proto
    rpcs:
    - JointMove
    - LinearMove
    - TrajectoryMove
    - JointControl
    - SetLocomotionGait
    - GetLocomotionGait
    - Stand
    - SafeStop
    - GoHomePose
    - PlanningMove
    - InteractiveMove
    - GetTempPlanningResult
    - SetHandCommand
    - SetNeckCommand
    - SendAdjustCommand
    - GetAdjustEndPositions
    - DisabaleArmContact
    - SetCollisionDetectionState
    - GetCollisionDetectionState
    - ComputeKinematics
    - ActiveMotionControl
    - SetFutureCollisionDetectionState
    - SetTrajectoryCollisionDetectionState
    - GetFutureCollisionDetectionState
    - SelectDanceType
    - GetDanceTypeList
    - SitStandStateNotify
  - service: McSafetyService
    file: grpc/aimdk/protocol/mc/safety/mc_safety_service.proto
    rpcs:
    - CollisionRecover
  - service: McActionService
    file: grpc/aimdk/protocol/mc/action/mc_action_service.proto
    rpcs:
    - SetAction
    - GetAction
    - GetAvailableActions
    - GetAvailableCommands
  - service: McKinematicsService
    file: grpc/aimdk/protocol/mc/kinematics/mc_kinematics_service.proto
    rpcs:
    - KineForward
    - KineInverse
  - service: McForceService
    file: grpc/aimdk/protocol/mc/force/mc_force_service.proto
    rpcs:
    - SetForceControlPrimitive
    - SetSlideSpiral
    - SetSlideZigzag
    - SetSleeve
    - SetContact
  - service: McDataService
    file: grpc/aimdk/protocol/mc/data/mc_data_service.proto
    rpcs:
    - GetTaskState
    - GetJointState
    - GetJointParam
    - GetJointCommand
    - GetJointAngle
    - GetHandState
    - GetNeckState
    - GetTcpPosition
    - GetMotionGPTStatus
    - SetMotionGPTState
    - GetPlanningGroupAvailable
  - service: McBaseService
    file: grpc/aimdk/protocol/mc/base/mc_base_service.proto
    rpcs:
    - SetWorkMode
    - GetWorkMode
    - EnableRobot
    - DisableRobot
    - GetWorkState
    - GetState
    - EnableJaka
    - DisableJaka
    - GetJakaState
  - service: McRemoteService
    file: grpc/aimdk/protocol/mc/remote/mc_remote_service.proto
    rpcs:
    - GetAimMasterControlSource
    - SetAimMasterControlSource
    - SetAimMasterControlCommand
    - EnterRemoteControlMode
    - ExitRemoteControlMode
    - SetRemoteControlMode
    - GetRemoteControlMode