AimDK Protocol (Link-U OS Robot Interface)
The AimDK protocol is AgiBot's first-party Protocol Buffers definition of its robots' interfaces, published as the aimrt_protocol repository of Link-U OS. It defines 33 gRPC services and 175 RPCs across four domains: hal/ (hardware abstraction — hands and grippers including the OmniHand O10 and AgiClaw, arms, audio, RGB/fill/strip lighting, neck, battery management, temperature, emergency stop, operation mode, RealSense cameras, camera intrinsics and snapshots, MCU fault clearing), mc/ (motion control — locomotion, walking and standing, joint and servo control, forward and inverse kinematics, force primitives, collision and safety, action sequences, planning, simulation and teleoperation from AimMaster, Quest Pro controllers and universal gamepads), hds/ (health and diagnostics — alerts with levels and solutions, module exceptions, process heartbeat and health, system status, fallback), and common/ (SE(2)/SE(3) poses, velocities, accelerations and trajectories, quaternions, RPY, twists, wrenches, joints, odometry, images, timestamps and the shared RPC request/response headers). The same repository also ships 14 ROS 2 .msg and 19 .srv definitions, so the contract is consumable both as native protobuf/gRPC and as ROS 2 interfaces. Endpoints are served by the robot itself over the AimRT runtime on the local network; there is no public cloud host.