diff --git a/proto/gz/msgs/dynamic_detachable_joint.proto b/proto/gz/msgs/dynamic_detachable_joint.proto
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+++ b/proto/gz/msgs/dynamic_detachable_joint.proto
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+/*
+ * Copyright (C) 2025 Open Source Robotics Foundation
+ *
+ * Licensed under the Apache License, Version 2.0 (the "License");
+ * you may not use this file except in compliance with the License.
+ * You may obtain a copy of the License at
+ *
+ *     http://www.apache.org/licenses/LICENSE-2.0
+ *
+ * Unless required by applicable law or agreed to in writing, software
+ * distributed under the License is distributed on an "AS IS" BASIS,
+ * WITHOUT WARRANTIES OR CONDITIONS OF ANY KIND, either express or implied.
+ * See the License for the specific language governing permissions and
+ * limitations under the License.
+ */
+
+// Contributor: Adarsh Karan K P
+// Neobotix GmbH
+
+syntax = "proto3";
+
+package gz.msgs;
+
+option java_package = "com.gz.msgs";
+option java_outer_classname = "DynamicDetachableJointProtos";
+
+/// \ingroup gz.msgs
+/// \interface DynamicDetachableJoint
+/// \brief Message for dynamic detachable joint
+
+import "gz/msgs/header.proto";
+
+message AttachDetachRequest
+{
+  /// \brief Name of the child model
+  string child_model_name = 1;
+
+  /// \brief Name of the child link
+  string child_link_name = 2;
+
+  /// \brief Command to attach or detach
+  string command = 3;
+}
+
+message AttachDetachResponse
+{
+  /// \brief True if the operation was successful
+  bool success = 1;
+
+  /// \brief Additional message or error description
+  string message = 2;
+}