diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java index 53cc8fd..aafb15e 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeAgvController.java @@ -1,6 +1,6 @@ package com.cmvr.web.controller.api; -import cmvr.msgs.Agv; +import cmvr.msgs.AgvUtils; import com.cmvr.common.core.domain.AjaxResult; import com.cmvr.edge.client.model.EdgeCommonVO; import com.cmvr.edge.client.model.agv.EdgeAgvMapNameVO; @@ -12,12 +12,14 @@ import com.cmvr.edge.client.model.agv.EdgeAgvVelocityVO; import com.cmvr.edge.client.service.EdgeAgvService; import io.swagger.annotations.Api; import io.swagger.annotations.ApiOperation; +import io.swagger.annotations.ApiParam; import lombok.RequiredArgsConstructor; import org.springframework.validation.annotation.Validated; import org.springframework.web.bind.annotation.GetMapping; import org.springframework.web.bind.annotation.PostMapping; import org.springframework.web.bind.annotation.RequestBody; import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RequestParam; import org.springframework.web.bind.annotation.RestController; import java.util.ArrayList; @@ -48,8 +50,13 @@ public class EdgeAgvController { */ @ApiOperation("获取AGV运行时状态") @GetMapping("/getRuntimeState") - public AjaxResult getRuntimeState(@Validated EdgeCommonVO vo) { - Agv.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo); + public AjaxResult getRuntimeState( + @ApiParam(value = "终端设备ID", required = true) + @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) + @RequestParam("deviceId") String deviceId) { + EdgeCommonVO vo = commonVo(terminalId, deviceId); + AgvUtils.AgvRuntimeState state = edgeAgvService.getRuntimeState(vo); return AjaxResult.ok(toRuntimeStateMap(state)); } @@ -58,8 +65,13 @@ public class EdgeAgvController { */ @ApiOperation("获取导航状态") @GetMapping("/getNavigationStatus") - public AjaxResult getNavigationStatus(@Validated EdgeCommonVO vo) { - Agv.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo); + public AjaxResult getNavigationStatus( + @ApiParam(value = "终端设备ID", required = true) + @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) + @RequestParam("deviceId") String deviceId) { + EdgeCommonVO vo = commonVo(terminalId, deviceId); + AgvUtils.AgvNavigationStatus status = edgeAgvService.getNavigationStatus(vo); Map resultMap = new HashMap<>(); resultMap.put("state", status.getState()); resultMap.put("type", status.getType()); @@ -94,7 +106,7 @@ public class EdgeAgvController { @ApiOperation("导航到指定位置") @PostMapping("/navigateToPose") public AjaxResult navigateToPose(@RequestBody @Validated EdgeAgvNavigateToPoseVO vo) { - Agv.AgvPose2d pose = Agv.AgvPose2d.newBuilder() + AgvUtils.AgvPose2d pose = AgvUtils.AgvPose2d.newBuilder() .setX(vo.getX()) .setY(vo.getY()) .setTheta(vo.getTheta()) @@ -149,7 +161,7 @@ public class EdgeAgvController { @ApiOperation("设置速度") @PostMapping("/setVelocity") public AjaxResult setVelocity(@RequestBody @Validated EdgeAgvVelocityVO vo) { - Agv.AgvVelocity velocity = Agv.AgvVelocity.newBuilder() + AgvUtils.AgvVelocity velocity = AgvUtils.AgvVelocity.newBuilder() .setVx(vo.getVx()) .setVy(vo.getVy()) .setWz(vo.getWz()) @@ -173,7 +185,12 @@ public class EdgeAgvController { */ @ApiOperation("列出所有地图") @GetMapping("/listMaps") - public AjaxResult listMaps(@Validated EdgeCommonVO vo) { + public AjaxResult listMaps( + @ApiParam(value = "终端设备ID", required = true) + @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) + @RequestParam("deviceId") String deviceId) { + EdgeCommonVO vo = commonVo(terminalId, deviceId); List maps = edgeAgvService.listMaps(vo); return AjaxResult.ok(maps); } @@ -183,10 +200,15 @@ public class EdgeAgvController { */ @ApiOperation("列出所有站点") @GetMapping("/listStations") - public AjaxResult listStations(@Validated EdgeCommonVO vo) { - List stations = edgeAgvService.listStations(vo); + public AjaxResult listStations( + @ApiParam(value = "终端设备ID", required = true) + @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) + @RequestParam("deviceId") String deviceId) { + EdgeCommonVO vo = commonVo(terminalId, deviceId); + List stations = edgeAgvService.listStations(vo); List> stationList = new ArrayList<>(); - for (Agv.AgvStation station : stations) { + for (AgvUtils.AgvStation station : stations) { stationList.add(toStationMap(station)); } return AjaxResult.ok(stationList); @@ -217,7 +239,17 @@ public class EdgeAgvController { */ @ApiOperation("下载地图") @GetMapping("/downloadMap") - public AjaxResult downloadMap(@Validated EdgeAgvMapNameVO vo) { + public AjaxResult downloadMap( + @ApiParam(value = "终端设备ID", required = true) + @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) + @RequestParam("deviceId") String deviceId, + @ApiParam(value = "地图名称", required = true) + @RequestParam("mapName") String mapName) { + EdgeAgvMapNameVO vo = new EdgeAgvMapNameVO(); + vo.setTerminalId(terminalId); + vo.setDeviceId(deviceId); + vo.setMapName(mapName); String content = edgeAgvService.downloadMap(vo, vo.getMapName()); return AjaxResult.ok(content); } @@ -228,7 +260,7 @@ public class EdgeAgvController { @ApiOperation("开始建图") @PostMapping("/startMapping") public AjaxResult startMapping(@RequestBody @Validated EdgeAgvStartMappingVO vo) { - Agv.AgvMapDimension mapDimension = Agv.AgvMapDimension.forNumber(vo.getDimension()); + AgvUtils.AgvMapDimension mapDimension = AgvUtils.AgvMapDimension.forNumber(vo.getDimension()); if (mapDimension == null) { return AjaxResult.error("建图维度不合法，允许值：0=未指定，1=2D，2=3D，3=2D+3D"); } @@ -252,7 +284,14 @@ public class EdgeAgvController { /** * 将 protobuf 运行时状态转换为前端友好的 Map，避免直接暴露 protobuf 对象结构。 */ - private Map toRuntimeStateMap(Agv.AgvRuntimeState state) { + private EdgeCommonVO commonVo(String terminalId, String deviceId) { + EdgeCommonVO vo = new EdgeCommonVO(); + vo.setTerminalId(terminalId); + vo.setDeviceId(deviceId); + return vo; + } + + private Map toRuntimeStateMap(AgvUtils.AgvRuntimeState state) { Map resultMap = new HashMap<>(); resultMap.put("timestamp", state.getTimestamp()); resultMap.put("mode", state.getMode()); @@ -291,7 +330,7 @@ public class EdgeAgvController { /** * 将 protobuf 站点对象转换为普通 Map。 */ - private Map toStationMap(Agv.AgvStation station) { + private Map toStationMap(AgvUtils.AgvStation station) { Map stationMap = new HashMap<>(); stationMap.put("id", station.getId()); stationMap.put("type", station.getType()); @@ -305,7 +344,7 @@ public class EdgeAgvController { /** * 将 protobuf 二维位姿转换为普通 Map。 */ - private Map toPoseMap(Agv.AgvPose2d pose) { + private Map toPoseMap(AgvUtils.AgvPose2d pose) { Map poseMap = new HashMap<>(); poseMap.put("x", pose.getX()); poseMap.put("y", pose.getY()); diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java index 8bb1c97..5d73376 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmController.java @@ -7,12 +7,13 @@ import com.cmvr.edge.client.model.arm.*; import com.cmvr.edge.client.service.EdgeArmService; import io.swagger.annotations.Api; import io.swagger.annotations.ApiOperation; +import io.swagger.annotations.ApiParam; import lombok.RequiredArgsConstructor; -import org.springframework.validation.annotation.Validated; import org.springframework.web.bind.annotation.GetMapping; import org.springframework.web.bind.annotation.PostMapping; import org.springframework.web.bind.annotation.RequestBody; import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RequestParam; import org.springframework.web.bind.annotation.RestController; /** @@ -31,14 +32,20 @@ public class EdgeArmController { @ApiOperation("关闭力矩") @GetMapping("/torqueOff") - public AjaxResult torqueOff(EdgeCommonVO vo) { + public AjaxResult torqueOff( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { + EdgeCommonVO vo = commonVo(terminalId, deviceId); edgeArmService.torqueOff(vo); return AjaxResult.ok(); } @ApiOperation("开启力矩") @GetMapping("/torqueOn") - public AjaxResult torqueOn(EdgeCommonVO vo) { + public AjaxResult torqueOn( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { + EdgeCommonVO vo = commonVo(terminalId, deviceId); edgeArmService.torqueOn(vo); return AjaxResult.ok(); } @@ -48,7 +55,10 @@ public class EdgeArmController { */ @ApiOperation("清除故障") @GetMapping("/clearFault") - public AjaxResult clearFault(EdgeCommonVO vo) { + public AjaxResult clearFault( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { + EdgeCommonVO vo = commonVo(terminalId, deviceId); edgeArmService.clearFault(vo); return AjaxResult.ok(); } @@ -126,14 +136,20 @@ public class EdgeArmController { @ApiOperation("停止运动") @GetMapping("/stopMotion") - public AjaxResult stopMotion(EdgeCommonVO vo) { + public AjaxResult stopMotion( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { + EdgeCommonVO vo = commonVo(terminalId, deviceId); edgeArmService.stopMotion(vo); return AjaxResult.ok(); } @ApiOperation("获取关节状态") @GetMapping("/getJointState") - public AjaxResult getJointState(EdgeCommonVO vo) { + public AjaxResult getJointState( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { + EdgeCommonVO vo = commonVo(terminalId, deviceId); ArmCommand.JointResponse result = edgeArmService.getJointState(vo); ArmCommand.JointState state = result.getState(); @@ -150,7 +166,12 @@ public class EdgeArmController { @ApiOperation("获取末端位姿") @GetMapping("/getPose") - public AjaxResult getPose(@Validated EdgeArmPoseQueryVO vo) { + public AjaxResult getPose( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId, + @ApiParam("基座连杆名称") @RequestParam(value = "baseLink", required = false) String baseLink, + @ApiParam("末端执行器连杆名称") @RequestParam(value = "eeLink", required = false) String eeLink) { + EdgeArmPoseQueryVO vo = poseQueryVo(terminalId, deviceId, baseLink, eeLink); ArmCommand.GetPose.Response result = edgeArmService.getPose(vo, vo.getBaseLink(), vo.getEeLink()); ArmCommand.CartesianPose pose = result.getPose(); @@ -168,14 +189,26 @@ public class EdgeArmController { @ApiOperation("标定零点") @GetMapping("/calibrateZeroQ") - public AjaxResult calibrateZeroQ(@Validated EdgeArmCalibrateZeroQVO vo) { + public AjaxResult calibrateZeroQ( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId, + @ApiParam(value = "关节名称", required = true) @RequestParam("jointName") String jointName) { + EdgeArmCalibrateZeroQVO vo = new EdgeArmCalibrateZeroQVO(); + vo.setTerminalId(terminalId); + vo.setDeviceId(deviceId); + vo.setJointName(jointName); edgeArmService.calibrateZeroQ(vo, vo.getJointName()); return AjaxResult.ok(); } @ApiOperation("获取位姿矩阵") @GetMapping("/getPoseMatrix") - public AjaxResult getPoseMatrix(@Validated EdgeArmPoseQueryVO vo) { + public AjaxResult getPoseMatrix( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId, + @ApiParam("基座连杆名称") @RequestParam(value = "baseLink", required = false) String baseLink, + @ApiParam("末端执行器连杆名称") @RequestParam(value = "eeLink", required = false) String eeLink) { + EdgeArmPoseQueryVO vo = poseQueryVo(terminalId, deviceId, baseLink, eeLink); ArmCommand.GetPoseMatrix.Response result = edgeArmService.getPoseMatrix(vo, vo.getBaseLink(), vo.getEeLink()); // 将TransformMatrix4x4转换为Map ArmCommand.TransformMatrix4x4 matrix = result.getMatrix(); @@ -229,4 +262,20 @@ public class EdgeArmController { matrixMap.put("m33", matrix.getM33()); return AjaxResult.ok(matrixMap); } + + private EdgeCommonVO commonVo(String terminalId, String deviceId) { + EdgeCommonVO vo = new EdgeCommonVO(); + vo.setTerminalId(terminalId); + vo.setDeviceId(deviceId); + return vo; + } + + private EdgeArmPoseQueryVO poseQueryVo(String terminalId, String deviceId, String baseLink, String eeLink) { + EdgeArmPoseQueryVO vo = new EdgeArmPoseQueryVO(); + vo.setTerminalId(terminalId); + vo.setDeviceId(deviceId); + vo.setBaseLink(baseLink); + vo.setEeLink(eeLink); + return vo; + } } diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmTeleopController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmTeleopController.java new file mode 100644 index 0000000..8168736 --- /dev/null +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeArmTeleopController.java @@ -0,0 +1,62 @@ +package com.cmvr.web.controller.api; + +import com.alibaba.fastjson2.JSON; +import com.cmvr.common.core.controller.BaseController; +import com.cmvr.common.core.domain.AjaxResult; +import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopHeartbeatVO; +import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopOpenVO; +import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopSetpointVO; +import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopStopVO; +import com.cmvr.edge.client.service.EdgeArmTeleopService; +import io.swagger.annotations.Api; +import io.swagger.annotations.ApiOperation; +import lombok.RequiredArgsConstructor; +import org.springframework.web.bind.annotation.GetMapping; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestBody; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RequestParam; +import org.springframework.web.bind.annotation.RestController; + +@Api(tags = "Edge - Arm teleoperation") +@RestController +@RequestMapping("/api/edge/armTeleop") +@RequiredArgsConstructor +public class EdgeArmTeleopController extends BaseController { + + private final EdgeArmTeleopService edgeArmTeleopService; + + @ApiOperation("Open an arm teleoperation session") + @PostMapping("/open") + public AjaxResult open(@RequestBody EdgeArmTeleopOpenVO request) { + return success(edgeArmTeleopService.open(request)); + } + + @ApiOperation("Send an arm joint setpoint") + @PostMapping("/setpoint") + public AjaxResult setpoint(@RequestBody EdgeArmTeleopSetpointVO request) { + edgeArmTeleopService.sendSetpoint(request); + return success(); + } + + @ApiOperation("Send a teleoperation heartbeat") + @PostMapping("/heartbeat") + public AjaxResult heartbeat(@RequestBody EdgeArmTeleopHeartbeatVO request) { + edgeArmTeleopService.heartbeat(request); + return success(); + } + + @ApiOperation("Get the latest teleoperation state") + @GetMapping("/status") + public AjaxResult status(@RequestParam("sessionId") String sessionId) { + Object status = edgeArmTeleopService.getStatus(sessionId); + return success(status == null ? null : JSON.toJSONString(status)); + } + + @ApiOperation("Stop an arm teleoperation session") + @PostMapping("/stop") + public AjaxResult stop(@RequestBody EdgeArmTeleopStopVO request) { + edgeArmTeleopService.stop(request); + return success(); + } +} diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeCameraController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeCameraController.java index 12d9f66..30d127e 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeCameraController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeCameraController.java @@ -4,13 +4,24 @@ import com.alibaba.fastjson2.JSON; import com.cmvr.common.core.controller.BaseController; import com.cmvr.common.core.domain.AjaxResult; import com.cmvr.edge.client.model.EdgeCommonVO; +import com.cmvr.edge.client.model.camera.EdgeCameraPtzVO; import com.cmvr.edge.client.service.EdgeCameraService; +import com.cmvr.web.service.CameraStreamTicketService; import io.swagger.annotations.Api; import io.swagger.annotations.ApiOperation; +import io.swagger.annotations.ApiParam; import lombok.RequiredArgsConstructor; +import org.springframework.http.CacheControl; +import org.springframework.http.HttpStatus; +import org.springframework.http.MediaType; +import org.springframework.http.ResponseEntity; import org.springframework.web.bind.annotation.GetMapping; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestBody; import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RequestParam; import org.springframework.web.bind.annotation.RestController; +import org.springframework.web.servlet.mvc.method.annotation.StreamingResponseBody; @Api(tags = "边缘--相机") @RestController @@ -19,46 +30,127 @@ import org.springframework.web.bind.annotation.RestController; public class EdgeCameraController extends BaseController { private final EdgeCameraService edgeCameraService; + private final CameraStreamTicketService cameraStreamTicketService; @ApiOperation("获取相机状态") @GetMapping("/status") - public AjaxResult status(EdgeCommonVO edgeCommonVO) { + public AjaxResult status( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { + EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); return success(JSON.toJSONString(edgeCameraService.status(edgeCommonVO))); } @ApiOperation("开启相机") @GetMapping("/start") - public AjaxResult start(EdgeCommonVO edgeCommonVO) { + public AjaxResult start( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { + EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); return success(edgeCameraService.start(edgeCommonVO)); } @ApiOperation("关闭相机") @GetMapping("/stop") - public AjaxResult stop(EdgeCommonVO edgeCommonVO) { + public AjaxResult stop( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { + EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); return success(edgeCameraService.stop(edgeCommonVO)); } @ApiOperation("获取图片") @GetMapping("/getRGBImage") - public AjaxResult getRGBImage(EdgeCommonVO edgeCommonVO) { + public AjaxResult getRGBImage( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { + EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); return success(edgeCameraService.getRGBImage(edgeCommonVO)); } + @ApiOperation("Get one depth image") + @GetMapping("/getDepthImage") + public AjaxResult getDepthImage( + @RequestParam("terminalId") String terminalId, + @RequestParam("deviceId") String deviceId) { + return success(edgeCameraService.getDepthImage(commonVo(terminalId, deviceId))); + } + + @ApiOperation("Control camera PTZ") + @PostMapping("/controlPtz") + public AjaxResult controlPtz(@RequestBody EdgeCameraPtzVO request) { + return success(edgeCameraService.controlPtz(request)); + } + + @ApiOperation("Get a short-lived RGB video stream URL") + @GetMapping("/rgb-stream-url") + public AjaxResult rgbStreamUrl( + @RequestParam("terminalId") String terminalId, + @RequestParam("deviceId") String deviceId) { + String ticket = cameraStreamTicketService.issue(terminalId, deviceId); + return success((Object) ("/api/edge/camera/rgb-stream?ticket=" + ticket)); + } + + @ApiOperation("RGB fragmented MP4 live stream") + @GetMapping(value = "/rgb-stream", produces = "video/mp4") + public ResponseEntity rgbStream(@RequestParam("ticket") String ticket) { + CameraStreamTicketService.StreamTarget target = cameraStreamTicketService.consume(ticket); + if (target == null) { + return ResponseEntity.status(HttpStatus.UNAUTHORIZED).build(); + } + return videoStreamResponse(target.terminalId(), target.deviceId()); + } + + @ApiOperation("Public RGB fragmented MP4 live stream") + @GetMapping(value = "/rgb-stream/public", produces = "video/mp4") + public ResponseEntity publicRgbStream( + @RequestParam("terminalId") String terminalId, + @RequestParam("deviceId") String deviceId) { + return videoStreamResponse(terminalId, deviceId); + } + + private ResponseEntity videoStreamResponse(String terminalId, String deviceId) { + StreamingResponseBody body = outputStream -> edgeCameraService.writeRGBVideoStream( + terminalId, deviceId, outputStream); + return ResponseEntity.ok() + .contentType(MediaType.parseMediaType("video/mp4")) + .cacheControl(CacheControl.noStore()) + .header("X-Accel-Buffering", "no") + .header("X-Content-Type-Options", "nosniff") + .body(body); + } + @ApiOperation("开始录制视频") @GetMapping("/startRecording") - public AjaxResult startRecording(EdgeCommonVO edgeCommonVO) { + public AjaxResult startRecording( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { + EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); return success(edgeCameraService.startRecording(edgeCommonVO)); } @ApiOperation("停止录制视频") @GetMapping("/stopRecording") - public AjaxResult stopRecording(EdgeCommonVO edgeCommonVO) { + public AjaxResult stopRecording( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { + EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); return success(edgeCameraService.stopRecording(edgeCommonVO)); } @ApiOperation("获取图片和视频") @GetMapping("/getRGBDImages") - public AjaxResult getRGBDImages(EdgeCommonVO edgeCommonVO) { + public AjaxResult getRGBDImages( + @ApiParam(value = "终端设备ID", required = true) @RequestParam("terminalId") String terminalId, + @ApiParam(value = "设备ID", required = true) @RequestParam("deviceId") String deviceId) { + EdgeCommonVO edgeCommonVO = commonVo(terminalId, deviceId); return success(edgeCameraService.getRGBDImages(edgeCommonVO)); } + + private EdgeCommonVO commonVo(String terminalId, String deviceId) { + EdgeCommonVO vo = new EdgeCommonVO(); + vo.setTerminalId(terminalId); + vo.setDeviceId(deviceId); + return vo; + } } diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMotorController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMotorController.java new file mode 100644 index 0000000..1cf0f20 --- /dev/null +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeMotorController.java @@ -0,0 +1,114 @@ +package com.cmvr.web.controller.api; + +import com.alibaba.fastjson2.JSON; +import com.cmvr.common.core.controller.BaseController; +import com.cmvr.common.core.domain.AjaxResult; +import com.cmvr.edge.client.model.motor.EdgeMotorCyclicOpenVO; +import com.cmvr.edge.client.model.motor.EdgeMotorCyclicSetpointVO; +import com.cmvr.edge.client.model.motor.EdgeMotorEnabledVO; +import com.cmvr.edge.client.model.motor.EdgeMotorMotionVO; +import com.cmvr.edge.client.model.motor.EdgeMotorTargetVO; +import com.cmvr.edge.client.service.EdgeMotorService; +import io.swagger.annotations.Api; +import io.swagger.annotations.ApiOperation; +import lombok.RequiredArgsConstructor; +import org.springframework.web.bind.annotation.GetMapping; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestBody; +import org.springframework.web.bind.annotation.RequestMapping; +import org.springframework.web.bind.annotation.RequestParam; +import org.springframework.web.bind.annotation.RestController; + +@Api(tags = "Edge - Motor") +@RestController +@RequestMapping("/api/edge/motor") +@RequiredArgsConstructor +public class EdgeMotorController extends BaseController { + + private final EdgeMotorService edgeMotorService; + + @ApiOperation("Set the current motor position as zero") + @PostMapping("/setZero") + public AjaxResult setZero(@RequestBody EdgeMotorTargetVO request) { + return protobuf(edgeMotorService.setZero(request)); + } + + @ApiOperation("Move motor to zero") + @PostMapping("/moveToZero") + public AjaxResult moveToZero(@RequestBody EdgeMotorMotionVO request) { + return protobuf(edgeMotorService.moveToZero(request)); + } + + @ApiOperation("Execute profile position control") + @PostMapping("/profilePosition") + public AjaxResult profilePosition(@RequestBody EdgeMotorMotionVO request) { + return protobuf(edgeMotorService.profilePosition(request)); + } + + @ApiOperation("Execute profile velocity control") + @PostMapping("/profileVelocity") + public AjaxResult profileVelocity(@RequestBody EdgeMotorMotionVO request) { + return protobuf(edgeMotorService.profileVelocity(request)); + } + + @ApiOperation("Emergency stop a motor") + @PostMapping("/emergencyStop") + public AjaxResult emergencyStop(@RequestBody EdgeMotorTargetVO request) { + return protobuf(edgeMotorService.emergencyStop(request)); + } + + @ApiOperation("Get motor status") + @PostMapping("/status") + public AjaxResult status(@RequestBody EdgeMotorTargetVO request) { + return protobuf(edgeMotorService.getStatus(request)); + } + + @ApiOperation("Enable or disable a motor") + @PostMapping("/enabled") + public AjaxResult enabled(@RequestBody EdgeMotorEnabledVO request) { + return protobuf(edgeMotorService.setEnabled(request)); + } + + @ApiOperation("Open cyclic position stream") + @PostMapping("/cyclicPosition/open") + public AjaxResult openCyclicPosition(@RequestBody EdgeMotorCyclicOpenVO request) { + return success(edgeMotorService.openCyclicPosition(request)); + } + + @ApiOperation("Send cyclic position setpoint") + @PostMapping("/cyclicPosition/setpoint") + public AjaxResult cyclicPosition(@RequestBody EdgeMotorCyclicSetpointVO request) { + edgeMotorService.sendCyclicPosition(request); + return success(); + } + + @ApiOperation("Open cyclic velocity stream") + @PostMapping("/cyclicVelocity/open") + public AjaxResult openCyclicVelocity(@RequestBody EdgeMotorCyclicOpenVO request) { + return success(edgeMotorService.openCyclicVelocity(request)); + } + + @ApiOperation("Send cyclic velocity setpoint") + @PostMapping("/cyclicVelocity/setpoint") + public AjaxResult cyclicVelocity(@RequestBody EdgeMotorCyclicSetpointVO request) { + edgeMotorService.sendCyclicVelocity(request); + return success(); + } + + @ApiOperation("Get the latest cyclic stream response") + @GetMapping("/stream/status") + public AjaxResult streamStatus(@RequestParam("sessionId") String sessionId) { + return protobuf(edgeMotorService.getStreamStatus(sessionId)); + } + + @ApiOperation("Close a cyclic stream") + @PostMapping("/stream/close") + public AjaxResult closeStream(@RequestParam("sessionId") String sessionId) { + edgeMotorService.closeStream(sessionId); + return success(); + } + + private AjaxResult protobuf(Object value) { + return success(value == null ? null : JSON.toJSONString(value)); + } +} diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSystemController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSystemController.java index a1b63e2..35098c6 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSystemController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeSystemController.java @@ -1,12 +1,18 @@ package com.cmvr.web.controller.api; +import com.alibaba.fastjson2.JSON; import com.cmvr.common.core.controller.BaseController; import com.cmvr.common.core.domain.AjaxResult; +import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO; +import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO; import com.cmvr.edge.client.service.EdgeSystemService; import io.swagger.annotations.Api; import io.swagger.annotations.ApiOperation; import lombok.RequiredArgsConstructor; import org.springframework.web.bind.annotation.GetMapping; +import org.springframework.web.bind.annotation.PostMapping; +import org.springframework.web.bind.annotation.RequestBody; +import org.springframework.web.bind.annotation.RequestParam; import org.springframework.web.bind.annotation.RequestMapping; import org.springframework.web.bind.annotation.RestController; @@ -18,9 +24,33 @@ public class EdgeSystemController extends BaseController { private final EdgeSystemService edgeSystemService; + @ApiOperation("Get edge system information") + @GetMapping("/info") + public AjaxResult info(@RequestParam("terminalId") String terminalId) { + return success(JSON.toJSONString(edgeSystemService.getSystemInfo(terminalId))); + } + + @ApiOperation("Get edge system runtime status") + @GetMapping("/status") + public AjaxResult status(@RequestParam("terminalId") String terminalId) { + return success(JSON.toJSONString(edgeSystemService.getSystemStatus(terminalId))); + } + + @ApiOperation("Update edge device parameters") + @PostMapping("/params") + public AjaxResult updateParams(@RequestBody EdgeSystemUpdateParamsVO request) { + return success(JSON.toJSONString(edgeSystemService.updateParams(request))); + } + + @ApiOperation("Execute a JSON device command") + @PostMapping("/executeJsonCommand") + public AjaxResult executeJsonCommand(@RequestBody EdgeSystemJsonCommandVO request) { + return success(JSON.toJSONString(edgeSystemService.executeJsonCommand(request))); + } + @ApiOperation("停止所有设备") @GetMapping("/stopAll") - public AjaxResult stopAll(String terminalId) { + public AjaxResult stopAll(@RequestParam("terminalId") String terminalId) { return AjaxResult.ok(edgeSystemService.stopAll(terminalId)); } } diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java index 993840d..0c1f76a 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/inspection/InspectionRobotController.java @@ -3,7 +3,7 @@ package com.cmvr.web.controller.inspection; import java.util.List; import jakarta.servlet.http.HttpServletResponse; -import cmvr.msgs.Agv; +import cmvr.msgs.AgvUtils; import com.cmvr.inspection.domain.vo.InspectionRobotVo; import io.swagger.annotations.*; import org.springframework.security.access.prepost.PreAuthorize; @@ -180,7 +180,7 @@ public class InspectionRobotController extends BaseController @GetMapping("/{robotId}/location") public AjaxResult getRobotRealtimeLocation(@PathVariable String robotId) { - Agv.AgvPose2d location = inspectionRobotService.getRobotRealtimeLocation(robotId); + AgvUtils.AgvPose2d location = inspectionRobotService.getRobotRealtimeLocation(robotId); return success(location); } diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java index a1c46a7..caa10c6 100644 --- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/test/TeFlowController.java @@ -157,7 +157,8 @@ public class TeFlowController extends BaseController { @PostMapping("/action") @ApiOperation(value = "单个节点执行", - notes = "巡检仪表节点action=INSPECTION_METER_RECOGNIZE，payload使用InspectionMeterRecognizeConfigVO；" + notes = "设备通用指令action=DEVICE_EXECUTE_JSON_COMMAND，payload需要terminalId、deviceId、requestJson；" + + "巡检仪表节点action=INSPECTION_METER_RECOGNIZE，payload使用InspectionMeterRecognizeConfigVO；" + "人工判断节点action=INSPECTION_MANUAL_REVIEW_CREATE，payload使用InspectionManualReviewConfigVO。" + "该接口用于试调节点，不会生成正式巡检任务结果") public AjaxResult actionExecute( diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/service/CameraStreamTicketService.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/service/CameraStreamTicketService.java new file mode 100644 index 0000000..14b50fe --- /dev/null +++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/service/CameraStreamTicketService.java @@ -0,0 +1,38 @@ +package com.cmvr.web.service; + +import org.springframework.stereotype.Service; + +import java.time.Duration; +import java.util.Map; +import java.util.UUID; +import java.util.concurrent.ConcurrentHashMap; + +@Service +public class CameraStreamTicketService { + + private static final long TICKET_LIFETIME_MILLIS = Duration.ofSeconds(30).toMillis(); + private final Map tickets = new ConcurrentHashMap<>(); + + public String issue(String terminalId, String deviceId) { + long now = System.currentTimeMillis(); + tickets.entrySet().removeIf(entry -> entry.getValue().expiresAt() < now); + String ticket = UUID.randomUUID().toString().replace("-", ""); + tickets.put(ticket, new StreamTarget(terminalId, deviceId, now + TICKET_LIFETIME_MILLIS)); + return ticket; + } + + public StreamTarget consume(String ticket) { + if (ticket == null || ticket.isBlank()) { + return null; + } + StreamTarget target = tickets.get(ticket); + if (target == null || target.expiresAt() < System.currentTimeMillis()) { + tickets.remove(ticket); + return null; + } + return target; + } + + public record StreamTarget(String terminalId, String deviceId, long expiresAt) { + } +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcBidiSessionRegistry.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcBidiSessionRegistry.java new file mode 100644 index 0000000..4dbfe18 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcBidiSessionRegistry.java @@ -0,0 +1,102 @@ +package com.cmvr.edge.client.manage; + +import com.cmvr.common.exception.GlobalException; +import io.grpc.stub.StreamObserver; + +import java.util.UUID; +import java.util.concurrent.ConcurrentHashMap; +import java.util.concurrent.ConcurrentMap; +import java.util.concurrent.atomic.AtomicBoolean; +import java.util.concurrent.atomic.AtomicReference; +import java.util.function.Function; + +/** Maintains independently addressable bidirectional gRPC streams for HTTP clients. */ +public class GrpcBidiSessionRegistry { + + private final ConcurrentMap> sessions = new ConcurrentHashMap<>(); + + public String open(Function, StreamObserver> opener, Req initialRequest) { + String sessionId = UUID.randomUUID().toString(); + Session session = new Session<>(); + StreamObserver responseObserver = new StreamObserver() { + @Override + public void onNext(Resp value) { + session.latest.set(value); + } + + @Override + public void onError(Throwable throwable) { + session.error.set(throwable); + session.completed.set(true); + } + + @Override + public void onCompleted() { + session.completed.set(true); + } + }; + session.requestObserver = opener.apply(responseObserver); + sessions.put(sessionId, session); + try { + session.requestObserver.onNext(initialRequest); + } catch (RuntimeException exception) { + sessions.remove(sessionId); + throw exception; + } + return sessionId; + } + + public void send(String sessionId, Req request) { + Session session = require(sessionId); + checkAvailable(sessionId, session); + session.requestObserver.onNext(request); + } + + public Resp getLatest(String sessionId) { + Session session = require(sessionId); + Throwable error = session.error.get(); + if (error != null) { + throw new GlobalException("gRPC stream failed: " + error.getMessage()); + } + return session.latest.get(); + } + + public void close(String sessionId) { + Session session = sessions.remove(sessionId); + if (session == null) { + throw new GlobalException("Unknown stream session: " + sessionId); + } + if (!session.completed.get()) { + session.requestObserver.onCompleted(); + session.completed.set(true); + } + } + + private Session require(String sessionId) { + if (sessionId == null || sessionId.trim().isEmpty()) { + throw new GlobalException("Stream session ID cannot be empty"); + } + Session session = sessions.get(sessionId); + if (session == null) { + throw new GlobalException("Unknown stream session: " + sessionId); + } + return session; + } + + private void checkAvailable(String sessionId, Session session) { + Throwable error = session.error.get(); + if (error != null) { + throw new GlobalException("gRPC stream failed: " + error.getMessage()); + } + if (session.completed.get()) { + throw new GlobalException("gRPC stream is already completed: " + sessionId); + } + } + + private static final class Session { + private StreamObserver requestObserver; + private final AtomicReference latest = new AtomicReference<>(); + private final AtomicReference error = new AtomicReference<>(); + private final AtomicBoolean completed = new AtomicBoolean(); + } +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java index 42d0660..945a9d3 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/manage/GrpcServiceManager.java @@ -1,8 +1,8 @@ package com.cmvr.edge.client.manage; import cmvr.api.*; +import cmvr.api.armteleop.v1.ArmTeleopServiceGrpc; import cn.hutool.core.util.ObjUtil; -import cn.hutool.core.util.StrUtil; import com.cmvr.device.domain.DeDeviceTerminalConfig; import com.cmvr.device.service.IDeDeviceTerminalConfigService; import io.grpc.ManagedChannel; @@ -13,6 +13,7 @@ import org.springframework.scheduling.annotation.Scheduled; import org.springframework.stereotype.Service; import jakarta.annotation.PostConstruct; +import java.net.InetSocketAddress; import java.util.Map; import java.util.concurrent.*; import java.util.function.Function; @@ -61,6 +62,9 @@ public class GrpcServiceManager { clientFactories.put(HlcServiceGrpc.HlcServiceBlockingStub.class, new GrpcClientFactory<>(HlcServiceGrpc::newBlockingStub)); // 注册agv服务的stub clientFactories.put(AgvServiceGrpc.AgvServiceBlockingStub.class, new GrpcClientFactory<>(AgvServiceGrpc::newBlockingStub)); + clientFactories.put(MotorServiceGrpc.MotorServiceBlockingStub.class, new GrpcClientFactory<>(MotorServiceGrpc::newBlockingStub)); + clientFactories.put(MotorServiceGrpc.MotorServiceStub.class, new GrpcClientFactory<>(MotorServiceGrpc::newStub)); + clientFactories.put(ArmTeleopServiceGrpc.ArmTeleopServiceStub.class, new GrpcClientFactory<>(ArmTeleopServiceGrpc::newStub)); // 注册机器人实时语音双向流服务的异步Stub } @@ -84,8 +88,8 @@ public class GrpcServiceManager { * 创建gRPC通道 */ private ManagedChannel createChannel(String terminalId) { - String grpcAddress = getGrpcServiceAddress(terminalId); - return ManagedChannelBuilder.forTarget(grpcAddress) + InetSocketAddress endpoint = getGrpcServiceEndpoint(terminalId); + return ManagedChannelBuilder.forAddress(endpoint.getHostString(), endpoint.getPort()) .usePlaintext() .maxInboundMessageSize(50 * 1024 * 1024) // 50MB .build(); @@ -94,12 +98,69 @@ public class GrpcServiceManager { /** * 获取终端地址 */ - private String getGrpcServiceAddress(String terminalId) { + private InetSocketAddress getGrpcServiceEndpoint(String terminalId) { DeDeviceTerminalConfig terminal = deviceTerminalConfigService.selectDeDeviceTerminalConfigById(terminalId); if (ObjUtil.isEmpty(terminal)) { - return DEFAULT_GRPC_ADDRESS; + return parseGrpcAddress(DEFAULT_GRPC_ADDRESS); } - return StrUtil.format("static://{}:{}", terminal.getHost(), terminal.getPort()); + return createEndpoint(terminal.getHost(), terminal.getPort(), "终端 " + terminalId); + } + + /** + * 兼容原有 static://host:port 配置，但使用主机和端口直接创建通道。 + */ + static InetSocketAddress parseGrpcAddress(String address) { + if (address == null || address.trim().isEmpty()) { + throw new IllegalArgumentException("gRPC 默认地址不能为空"); + } + + String endpoint = address.trim(); + int schemeIndex = endpoint.indexOf("://"); + if (schemeIndex >= 0) { + endpoint = endpoint.substring(schemeIndex + 3); + } + while (endpoint.startsWith("/")) { + endpoint = endpoint.substring(1); + } + + String host; + String portText; + if (endpoint.startsWith("[")) { + int bracketEnd = endpoint.indexOf(']'); + if (bracketEnd < 0 || bracketEnd + 1 >= endpoint.length() || endpoint.charAt(bracketEnd + 1) != ':') { + throw invalidGrpcAddress(address); + } + host = endpoint.substring(1, bracketEnd); + portText = endpoint.substring(bracketEnd + 2); + } else { + int portSeparator = endpoint.lastIndexOf(':'); + if (portSeparator <= 0 || portSeparator == endpoint.length() - 1) { + throw invalidGrpcAddress(address); + } + host = endpoint.substring(0, portSeparator); + portText = endpoint.substring(portSeparator + 1); + } + + try { + return createEndpoint(host, Long.parseLong(portText), "默认配置"); + } catch (NumberFormatException exception) { + throw invalidGrpcAddress(address); + } + } + + private static InetSocketAddress createEndpoint(String host, Long port, String source) { + String normalizedHost = host == null ? "" : host.trim(); + if (normalizedHost.isEmpty()) { + throw new IllegalArgumentException(source + " 的 gRPC 主机不能为空"); + } + if (port == null || port <= 0 || port > 65535) { + throw new IllegalArgumentException(source + " 的 gRPC 端口无效: " + port); + } + return InetSocketAddress.createUnresolved(normalizedHost, port.intValue()); + } + + private static IllegalArgumentException invalidGrpcAddress(String address) { + return new IllegalArgumentException("gRPC 默认地址格式无效: " + address + "，应为 static://host:port 或 host:port"); } /** diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopHeartbeatVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopHeartbeatVO.java new file mode 100644 index 0000000..9ad5052 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopHeartbeatVO.java @@ -0,0 +1,9 @@ +package com.cmvr.edge.client.model.armteleop; + +import lombok.Data; + +@Data +public class EdgeArmTeleopHeartbeatVO { + private String sessionId; + private long sequence; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopOpenVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopOpenVO.java new file mode 100644 index 0000000..c9d4a50 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopOpenVO.java @@ -0,0 +1,27 @@ +package com.cmvr.edge.client.model.armteleop; + +import lombok.Data; + +import java.util.List; + +@Data +public class EdgeArmTeleopOpenVO { + private String terminalId; + private Integer protocolMajor; + private Integer protocolMinor; + private String clientInstanceId; + private String robotId; + private String modelSha256; + private String calibrationSha256; + private List jointNames; + private String positionUnit; + private String velocityUnit; + private String effortUnit; + private String baseFrame; + private String toolFrame; + private Integer commandRateHz; + private Integer stateRateHz; + private Integer watchdogTimeoutMs; + private Integer leaseMs; + private boolean forceFeedback; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopSetpointVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopSetpointVO.java new file mode 100644 index 0000000..c2349c7 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopSetpointVO.java @@ -0,0 +1,12 @@ +package com.cmvr.edge.client.model.armteleop; + +import lombok.Data; + +@Data +public class EdgeArmTeleopSetpointVO { + private String sessionId; + private long sequence; + private double[] positionRad; + private double[] velocityRadS; + private Integer validForUs; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopStopVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopStopVO.java new file mode 100644 index 0000000..40e8f75 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/armteleop/EdgeArmTeleopStopVO.java @@ -0,0 +1,10 @@ +package com.cmvr.edge.client.model.armteleop; + +import lombok.Data; + +@Data +public class EdgeArmTeleopStopVO { + private String sessionId; + private String reason; + private String detail; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/camera/EdgeCameraPtzVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/camera/EdgeCameraPtzVO.java new file mode 100644 index 0000000..f4a64ec --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/camera/EdgeCameraPtzVO.java @@ -0,0 +1,22 @@ +package com.cmvr.edge.client.model.camera; + +import com.cmvr.edge.client.model.EdgeCommonVO; +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@Data +@EqualsAndHashCode(callSuper = true) +@ApiModel("Camera PTZ control parameters") +public class EdgeCameraPtzVO extends EdgeCommonVO { + + @ApiModelProperty(value = "PTZ command, for example PAN_LEFT or ZOOM_IN", required = true) + private String command; + + @ApiModelProperty(value = "Action: START or STOP", required = true) + private String action; + + @ApiModelProperty("Movement speed") + private Integer speed; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorCyclicOpenVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorCyclicOpenVO.java new file mode 100644 index 0000000..d56b1b2 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorCyclicOpenVO.java @@ -0,0 +1,10 @@ +package com.cmvr.edge.client.model.motor; + +import lombok.Data; +import lombok.EqualsAndHashCode; + +@Data +@EqualsAndHashCode(callSuper = true) +public class EdgeMotorCyclicOpenVO extends EdgeMotorTargetVO { + private Integer watchdogTimeoutMs; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorCyclicSetpointVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorCyclicSetpointVO.java new file mode 100644 index 0000000..d112c6d --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorCyclicSetpointVO.java @@ -0,0 +1,13 @@ +package com.cmvr.edge.client.model.motor; + +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; + +@Data +public class EdgeMotorCyclicSetpointVO { + @ApiModelProperty(value = "Session ID returned by the open endpoint", required = true) + private String sessionId; + private long sequence; + private Double targetPositionRad; + private Double targetVelocityRadS; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorEnabledVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorEnabledVO.java new file mode 100644 index 0000000..671ca1a --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorEnabledVO.java @@ -0,0 +1,10 @@ +package com.cmvr.edge.client.model.motor; + +import lombok.Data; +import lombok.EqualsAndHashCode; + +@Data +@EqualsAndHashCode(callSuper = true) +public class EdgeMotorEnabledVO extends EdgeMotorTargetVO { + private boolean enabled; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorMotionVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorMotionVO.java new file mode 100644 index 0000000..379ff19 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorMotionVO.java @@ -0,0 +1,18 @@ +package com.cmvr.edge.client.model.motor; + +import lombok.Data; +import lombok.EqualsAndHashCode; + +@Data +@EqualsAndHashCode(callSuper = true) +public class EdgeMotorMotionVO extends EdgeMotorTargetVO { + private Double targetPositionRad; + private Double targetVelocityRadS; + private Double maxVelocityRadS; + private Double accelerationRadS2; + private Integer timeoutMs; + private Integer pollPeriodMs; + private Double positionToleranceRad; + private Double velocityToleranceRadS; + private Integer settleSampleCount; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorTargetVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorTargetVO.java new file mode 100644 index 0000000..d064c45 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/motor/EdgeMotorTargetVO.java @@ -0,0 +1,19 @@ +package com.cmvr.edge.client.model.motor; + +import com.cmvr.edge.client.model.EdgeCommonVO; +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@Data +@EqualsAndHashCode(callSuper = true) +@ApiModel("Motor target") +public class EdgeMotorTargetVO extends EdgeCommonVO { + + @ApiModelProperty("Motor numeric ID; use either motorId or jointName") + private Integer motorId; + + @ApiModelProperty("Joint name; use either motorId or jointName") + private String jointName; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/system/EdgeSystemJsonCommandVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/system/EdgeSystemJsonCommandVO.java new file mode 100644 index 0000000..8d55156 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/system/EdgeSystemJsonCommandVO.java @@ -0,0 +1,16 @@ +package com.cmvr.edge.client.model.system; + +import com.cmvr.edge.client.model.EdgeCommonVO; +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; +import lombok.EqualsAndHashCode; + +@Data +@EqualsAndHashCode(callSuper = true) +@ApiModel("System JSON device command") +public class EdgeSystemJsonCommandVO extends EdgeCommonVO { + + @ApiModelProperty(value = "JSON request passed to the target device", required = true) + private String requestJson; +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/system/EdgeSystemUpdateParamsVO.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/system/EdgeSystemUpdateParamsVO.java new file mode 100644 index 0000000..68afbe5 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/model/system/EdgeSystemUpdateParamsVO.java @@ -0,0 +1,31 @@ +package com.cmvr.edge.client.model.system; + +import com.cmvr.edge.client.model.EdgeCommonVO; +import io.swagger.annotations.ApiModel; +import io.swagger.annotations.ApiModelProperty; +import lombok.Data; +import lombok.EqualsAndHashCode; + +import java.util.List; + +@Data +@EqualsAndHashCode(callSuper = true) +@ApiModel("System configuration update") +public class EdgeSystemUpdateParamsVO extends EdgeCommonVO { + + @ApiModelProperty(value = "Configuration parameters", required = true) + private List params; + + @Data + @ApiModel("Typed configuration parameter") + public static class Param { + @ApiModelProperty(value = "Parameter name", required = true) + private String name; + private Integer intValue; + private Double doubleValue; + private String stringValue; + private Boolean boolValue; + @ApiModelProperty("Base64 encoded byte value") + private String bytesBase64; + } +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java index e98624c..aff3095 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeAgvService.java @@ -1,7 +1,7 @@ package com.cmvr.edge.client.service; -import cmvr.msgs.Agv; -import cmvr.msgs.Agv.AgvRuntimeState; +import cmvr.msgs.AgvUtils; +import cmvr.msgs.AgvUtils.AgvRuntimeState; import com.cmvr.edge.client.model.EdgeCommonVO; @@ -29,7 +29,7 @@ public interface EdgeAgvService { * @param edgeCommonVO 边缘通用参数 * @return 导航状态 */ - Agv.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO); + AgvUtils.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO); /** * 紧急停止 @@ -51,7 +51,7 @@ public interface EdgeAgvService { * @param edgeCommonVO 边缘通用参数 * @param pose 目标位姿 */ - void navigateToPose(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose); + void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose); /** * 导航到站点 @@ -67,7 +67,7 @@ public interface EdgeAgvService { * @param edgeCommonVO 边缘通用参数 * @param pathSegments 路径段列表 */ - void followPath(EdgeCommonVO edgeCommonVO, List pathSegments); + void followPath(EdgeCommonVO edgeCommonVO, List pathSegments); /** * 暂停导航 @@ -96,7 +96,7 @@ public interface EdgeAgvService { * @param edgeCommonVO 边缘通用参数 * @param velocity 速度 */ - void setVelocity(EdgeCommonVO edgeCommonVO, Agv.AgvVelocity velocity); + void setVelocity(EdgeCommonVO edgeCommonVO, AgvUtils.AgvVelocity velocity); /** * 停止速度控制 @@ -119,7 +119,7 @@ public interface EdgeAgvService { * @param edgeCommonVO 边缘通用参数 * @return 站点列表 */ - List listStations(EdgeCommonVO edgeCommonVO); + List listStations(EdgeCommonVO edgeCommonVO); /** * 切换地图 @@ -156,7 +156,7 @@ public interface EdgeAgvService { * @param realTime 是否实时建图 * @return 会话ID */ - String startMapping(EdgeCommonVO edgeCommonVO, Agv.AgvMapDimension dimension, String mapName, boolean realTime); + String startMapping(EdgeCommonVO edgeCommonVO, AgvUtils.AgvMapDimension dimension, String mapName, boolean realTime); /** * 停止建图 diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmTeleopService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmTeleopService.java new file mode 100644 index 0000000..6fb8fa3 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeArmTeleopService.java @@ -0,0 +1,19 @@ +package com.cmvr.edge.client.service; + +import cmvr.api.armteleop.v1.ArmTeleopV1; +import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopHeartbeatVO; +import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopOpenVO; +import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopSetpointVO; +import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopStopVO; + +public interface EdgeArmTeleopService { + String open(EdgeArmTeleopOpenVO request); + + void sendSetpoint(EdgeArmTeleopSetpointVO request); + + void heartbeat(EdgeArmTeleopHeartbeatVO request); + + ArmTeleopV1.ServerFrame getStatus(String sessionId); + + void stop(EdgeArmTeleopStopVO request); +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeCameraService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeCameraService.java index 8b5da75..7628997 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeCameraService.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeCameraService.java @@ -2,8 +2,11 @@ package com.cmvr.edge.client.service; import cmvr.api.CameraCommand; import com.cmvr.edge.client.model.EdgeCommonVO; +import com.cmvr.edge.client.model.camera.EdgeCameraPtzVO; import io.grpc.stub.StreamObserver; +import java.io.OutputStream; + /** * 边缘系统摄像头服务 */ @@ -34,6 +37,8 @@ public interface EdgeCameraService { */ public String getRGBImage(EdgeCommonVO edgeCommonVO); + String getDepthImage(EdgeCommonVO edgeCommonVO); + /** * 开始录制视频 */ @@ -49,8 +54,14 @@ public interface EdgeCameraService { */ public String getRGBDImages(EdgeCommonVO edgeCommonVO); + String controlPtz(EdgeCameraPtzVO ptzVO); + StreamObserver getRGBImageStream(EdgeCommonVO edgeCommonVO); + StreamObserver getRGBImageStream(String terminalId, String deviceId); + + void writeRGBVideoStream(String terminalId, String deviceId, OutputStream outputStream); + void getDepthImageStream(EdgeCommonVO edgeCommonVO); void getRGBDImagesStream(EdgeCommonVO edgeCommonVO); diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeMotorService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeMotorService.java new file mode 100644 index 0000000..9c64c3b --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeMotorService.java @@ -0,0 +1,36 @@ +package com.cmvr.edge.client.service; + +import cmvr.api.MotorCommand; +import com.cmvr.edge.client.model.motor.EdgeMotorCyclicOpenVO; +import com.cmvr.edge.client.model.motor.EdgeMotorCyclicSetpointVO; +import com.cmvr.edge.client.model.motor.EdgeMotorEnabledVO; +import com.cmvr.edge.client.model.motor.EdgeMotorMotionVO; +import com.cmvr.edge.client.model.motor.EdgeMotorTargetVO; + +public interface EdgeMotorService { + MotorCommand.MotorCommandResponse setZero(EdgeMotorTargetVO request); + + MotorCommand.MotorCommandResponse moveToZero(EdgeMotorMotionVO request); + + MotorCommand.MotorCommandResponse profilePosition(EdgeMotorMotionVO request); + + MotorCommand.MotorCommandResponse profileVelocity(EdgeMotorMotionVO request); + + MotorCommand.MotorCommandResponse emergencyStop(EdgeMotorTargetVO request); + + MotorCommand.GetMotorStatusResponse getStatus(EdgeMotorTargetVO request); + + MotorCommand.MotorCommandResponse setEnabled(EdgeMotorEnabledVO request); + + String openCyclicPosition(EdgeMotorCyclicOpenVO request); + + void sendCyclicPosition(EdgeMotorCyclicSetpointVO request); + + String openCyclicVelocity(EdgeMotorCyclicOpenVO request); + + void sendCyclicVelocity(EdgeMotorCyclicSetpointVO request); + + MotorCommand.CyclicControlResponse getStreamStatus(String sessionId); + + void closeStream(String sessionId); +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSystemService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSystemService.java index d485a5c..261aea1 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSystemService.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeSystemService.java @@ -1,8 +1,10 @@ package com.cmvr.edge.client.service; +import cmvr.api.Common; import cmvr.api.SystemCommand; import com.cmvr.device.domain.DeDeviceRegistration; -import com.cmvr.device.domain.vo.Device; +import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO; +import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO; import java.util.List; @@ -10,14 +12,20 @@ import java.util.List; * 边缘系统服务接口 */ public interface EdgeSystemService { + SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String terminalId); + /** * 获取系统状态 * @return 系统状态信息，包含CPU使用率、内存使用情况、磁盘使用情况和设备列表 */ SystemCommand.GetSystemStatusCommand.Feedback getSystemStatus(String terminalId); + Common.CommandHeader.Feedback updateParams(EdgeSystemUpdateParamsVO request); + + Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request); + public List deviceList(String terminalId); public String stopAll(String terminalId); -} \ No newline at end of file +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java index 3542b9a..2bb3364 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeAgvServiceImpl.java @@ -3,7 +3,7 @@ package com.cmvr.edge.client.service.impl; import cmvr.api.AgvCommand; import cmvr.api.AgvServiceGrpc; import cmvr.api.Common; -import cmvr.msgs.Agv; +import cmvr.msgs.AgvUtils; import cn.hutool.core.util.StrUtil; import com.cmvr.common.exception.GlobalException; import com.cmvr.edge.client.manage.GrpcServiceManager; @@ -30,7 +30,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { private final GrpcServiceManager grpcServiceManager; @Override - public Agv.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) { + public AgvUtils.AgvRuntimeState getRuntimeState(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvRuntimeStateCommand.Request request = AgvCommand.AgvRuntimeStateCommand.Request.newBuilder() @@ -40,7 +40,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } @Override - public Agv.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) { + public AgvUtils.AgvNavigationStatus getNavigationStatus(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvNavigationStatusCommand.Request request = AgvCommand.AgvNavigationStatusCommand.Request.newBuilder() @@ -66,7 +66,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } @Override - public void navigateToPose(EdgeCommonVO edgeCommonVO, Agv.AgvPose2d pose) { + public void navigateToPose(EdgeCommonVO edgeCommonVO, AgvUtils.AgvPose2d pose) { if (pose == null) { throw new GlobalException("目标位姿不能为空"); } @@ -96,7 +96,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } @Override - public void followPath(EdgeCommonVO edgeCommonVO, List pathSegments) { + public void followPath(EdgeCommonVO edgeCommonVO, List pathSegments) { if (pathSegments == null || pathSegments.isEmpty()) { throw new GlobalException("路径段不能为空"); } @@ -135,7 +135,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } @Override - public void setVelocity(EdgeCommonVO edgeCommonVO, Agv.AgvVelocity velocity) { + public void setVelocity(EdgeCommonVO edgeCommonVO, AgvUtils.AgvVelocity velocity) { if (velocity == null) { throw new GlobalException("速度不能为空"); } @@ -168,7 +168,7 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } @Override - public List listStations(EdgeCommonVO edgeCommonVO) { + public List listStations(EdgeCommonVO edgeCommonVO) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvListStationsCommand.Request request = AgvCommand.AgvListStationsCommand.Request.newBuilder() @@ -227,12 +227,12 @@ public class EdgeAgvServiceImpl implements EdgeAgvService { } @Override - public String startMapping(EdgeCommonVO edgeCommonVO, Agv.AgvMapDimension dimension, String mapName, boolean realTime) { + public String startMapping(EdgeCommonVO edgeCommonVO, AgvUtils.AgvMapDimension dimension, String mapName, boolean realTime) { AgvServiceGrpc.AgvServiceBlockingStub stub = grpcServiceManager.getGrpcClient( edgeCommonVO.getTerminalId(), AgvServiceGrpc.AgvServiceBlockingStub.class); AgvCommand.AgvStartMappingCommand.Request.Builder requestBuilder = AgvCommand.AgvStartMappingCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) - .setDimension(dimension != null ? dimension : Agv.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED) + .setDimension(dimension != null ? dimension : AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED) .setRealTime(realTime); if (StrUtil.isNotBlank(mapName)) { diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmTeleopServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmTeleopServiceImpl.java new file mode 100644 index 0000000..6c72276 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeArmTeleopServiceImpl.java @@ -0,0 +1,100 @@ +package com.cmvr.edge.client.service.impl; + +import cmvr.api.armteleop.v1.ArmTeleopServiceGrpc; +import cmvr.api.armteleop.v1.ArmTeleopV1; +import com.cmvr.common.exception.GlobalException; +import com.cmvr.edge.client.manage.GrpcBidiSessionRegistry; +import com.cmvr.edge.client.manage.GrpcServiceManager; +import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopHeartbeatVO; +import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopOpenVO; +import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopSetpointVO; +import com.cmvr.edge.client.model.armteleop.EdgeArmTeleopStopVO; +import com.cmvr.edge.client.service.EdgeArmTeleopService; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +@Service +@RequiredArgsConstructor +public class EdgeArmTeleopServiceImpl implements EdgeArmTeleopService { + + private final GrpcServiceManager grpcServiceManager; + private final GrpcBidiSessionRegistry sessions = new GrpcBidiSessionRegistry<>(); + + @Override + public String open(EdgeArmTeleopOpenVO request) { + if (request.getTerminalId() == null || request.getTerminalId().trim().isEmpty()) { + throw new GlobalException("terminalId cannot be empty"); + } + ArmTeleopV1.RobotManifest.Builder manifest = ArmTeleopV1.RobotManifest.newBuilder(); + if (request.getRobotId() != null) manifest.setRobotId(request.getRobotId()); + if (request.getModelSha256() != null) manifest.setModelSha256(request.getModelSha256()); + if (request.getCalibrationSha256() != null) manifest.setCalibrationSha256(request.getCalibrationSha256()); + if (request.getJointNames() != null) manifest.addAllJointNames(request.getJointNames()); + if (request.getPositionUnit() != null) manifest.setPositionUnit(request.getPositionUnit()); + if (request.getVelocityUnit() != null) manifest.setVelocityUnit(request.getVelocityUnit()); + if (request.getEffortUnit() != null) manifest.setEffortUnit(request.getEffortUnit()); + if (request.getBaseFrame() != null) manifest.setBaseFrame(request.getBaseFrame()); + if (request.getToolFrame() != null) manifest.setToolFrame(request.getToolFrame()); + + ArmTeleopV1.OpenSession.Builder open = ArmTeleopV1.OpenSession.newBuilder() + .setExpectedRobot(manifest) + .setRequestForceFeedback(request.isForceFeedback()); + if (request.getProtocolMajor() != null) open.setProtocolMajor(request.getProtocolMajor()); + if (request.getProtocolMinor() != null) open.setProtocolMinor(request.getProtocolMinor()); + if (request.getClientInstanceId() != null) open.setClientInstanceId(request.getClientInstanceId()); + if (request.getCommandRateHz() != null) open.setRequestedCommandRateHz(request.getCommandRateHz()); + if (request.getStateRateHz() != null) open.setRequestedStateRateHz(request.getStateRateHz()); + if (request.getWatchdogTimeoutMs() != null) open.setWatchdogTimeoutMs(request.getWatchdogTimeoutMs()); + if (request.getLeaseMs() != null) open.setRequestedLeaseMs(request.getLeaseMs()); + + ArmTeleopServiceGrpc.ArmTeleopServiceStub stub = grpcServiceManager.getGrpcClient( + request.getTerminalId(), ArmTeleopServiceGrpc.ArmTeleopServiceStub.class); + return sessions.open(stub::teleoperate, ArmTeleopV1.ClientFrame.newBuilder().setOpen(open).build()); + } + + @Override + public void sendSetpoint(EdgeArmTeleopSetpointVO request) { + if (request.getSequence() <= 0) throw new GlobalException("sequence must be greater than zero"); + if (request.getValidForUs() == null || request.getValidForUs() <= 0) { + throw new GlobalException("validForUs must be greater than zero"); + } + ArmTeleopV1.JointSetpoint.Builder setpoint = ArmTeleopV1.JointSetpoint.newBuilder() + .setSequence(request.getSequence()).setValidForUs(request.getValidForUs()); + if (request.getPositionRad() != null) { + for (double value : request.getPositionRad()) setpoint.addPositionRad(value); + } + if (request.getVelocityRadS() != null) { + for (double value : request.getVelocityRadS()) setpoint.addVelocityRadS(value); + } + sessions.send(request.getSessionId(), ArmTeleopV1.ClientFrame.newBuilder().setSetpoint(setpoint).build()); + } + + @Override + public void heartbeat(EdgeArmTeleopHeartbeatVO request) { + ArmTeleopV1.ClientHeartbeat heartbeat = ArmTeleopV1.ClientHeartbeat.newBuilder() + .setSequence(request.getSequence()).build(); + sessions.send(request.getSessionId(), ArmTeleopV1.ClientFrame.newBuilder().setHeartbeat(heartbeat).build()); + } + + @Override + public ArmTeleopV1.ServerFrame getStatus(String sessionId) { + return sessions.getLatest(sessionId); + } + + @Override + public void stop(EdgeArmTeleopStopVO request) { + ArmTeleopV1.StopReason reason; + try { + reason = request.getReason() == null || request.getReason().trim().isEmpty() + ? ArmTeleopV1.StopReason.STOP_REASON_OPERATOR_REQUEST + : ArmTeleopV1.StopReason.valueOf(request.getReason().trim().toUpperCase()); + } catch (IllegalArgumentException exception) { + throw new GlobalException("Invalid teleoperation stop reason"); + } + ArmTeleopV1.StopSession stop = ArmTeleopV1.StopSession.newBuilder() + .setReason(reason).setDetail(request.getDetail() == null ? "" : request.getDetail()).build(); + sessions.send(request.getSessionId(), ArmTeleopV1.ClientFrame.newBuilder().setStop(stop).build()); + sessions.close(request.getSessionId()); + } +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java index b6186fb..a784bb1 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeCameraServiceImpl.java @@ -10,14 +10,17 @@ import com.cmvr.common.enums.FileType; import com.cmvr.common.exception.GlobalException; import com.cmvr.edge.client.file.ByteArrayMultipartFile; import com.cmvr.edge.client.manage.GrpcServiceManager; +import com.cmvr.edge.client.manage.GrpcStreamManager; import com.cmvr.edge.client.model.EdgeCommonVO; +import com.cmvr.edge.client.model.camera.EdgeCameraPtzVO; import com.cmvr.edge.client.service.EdgeCameraService; import com.cmvr.edge.client.service.EdgeStreamService; import com.cmvr.edge.client.utils.EdgeCommonUtil; -import com.cmvr.edge.client.utils.H265DecoderUtil; +import com.cmvr.edge.client.utils.H265Fmp4Transcoder; import com.cmvr.framework.websocket.service.MessagePushService; import com.cmvr.system.service.ISysFileService; import com.google.protobuf.ByteString; +import io.grpc.Status; import io.grpc.stub.StreamObserver; import lombok.RequiredArgsConstructor; import lombok.extern.slf4j.Slf4j; @@ -43,12 +46,17 @@ import java.io.ByteArrayOutputStream; import java.io.DataOutputStream; import java.io.File; import java.io.IOException; +import java.io.OutputStream; import java.nio.file.Files; import java.nio.file.Paths; -import java.util.ArrayList; +import java.nio.ByteBuffer; +import java.nio.ByteOrder; import java.util.Base64; import java.util.Iterator; -import java.util.List; +import java.util.concurrent.CountDownLatch; +import java.util.concurrent.atomic.AtomicInteger; +import java.util.concurrent.atomic.AtomicBoolean; +import java.util.concurrent.atomic.AtomicReference; @Slf4j @@ -127,6 +135,31 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi } } + @Override + public String getDepthImage(EdgeCommonVO edgeCommonVO) { + if (!checkStatus(edgeCommonVO)) { + start(edgeCommonVO); + } + CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + edgeCommonVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class); + CameraCommand.GetDepthImageCommand.Request request = CameraCommand.GetDepthImageCommand.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(edgeCommonVO.getDeviceId())) + .build(); + CameraCommand.GetDepthImageCommand.Feedback feedback = executeGrpcCall(() -> stub.getDepthImage(request)); + CameraCommand.FrameData frame = feedback.getDepthFrame(); + if (!feedback.hasDepthFrame() || frame.getWidth() <= 0 || frame.getHeight() <= 0) { + throw new GlobalException("Depth image data is invalid"); + } + String filePath = saveDepthImage(frame); + try { + return sysFileService.uploadFile(convertFileToMultipartFile(filePath), FileType.IMAGE.code()); + } catch (IOException exception) { + throw new GlobalException("Depth image upload failed: " + exception.getMessage()); + } finally { + deleteTempFile(filePath); + } + } + @Override public String startRecording(EdgeCommonVO edgeCommonVO) { if (!checkStatus(edgeCommonVO)) { @@ -193,75 +226,251 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi // return JSON.toJSONString(result); } - // 缓冲区和收集状态 - private final List framesBuffer = new ArrayList<>(); - private boolean isCollectingFrames = false; + @Override + public String controlPtz(EdgeCameraPtzVO ptzVO) { + CameraCommand.ControlPtzCommand.Command command; + CameraCommand.ControlPtzCommand.Action action; + try { + command = CameraCommand.ControlPtzCommand.Command.valueOf(ptzVO.getCommand().trim().toUpperCase()); + action = CameraCommand.ControlPtzCommand.Action.valueOf(ptzVO.getAction().trim().toUpperCase()); + } catch (RuntimeException exception) { + throw new GlobalException("Invalid PTZ command or action"); + } + CameraServiceGrpc.CameraServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + ptzVO.getTerminalId(), CameraServiceGrpc.CameraServiceBlockingStub.class); + CameraCommand.ControlPtzCommand.Request request = CameraCommand.ControlPtzCommand.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(ptzVO.getDeviceId())) + .setCommand(command) + .setAction(action) + .setSpeed(ptzVO.getSpeed() == null ? 0 : ptzVO.getSpeed()) + .build(); + return JSON.toJSONString(executeGrpcCall(() -> stub.controlPtz(request)).getHeader()); + } @Override public StreamObserver getRGBImageStream(EdgeCommonVO edgeCommonVO) { - if (!checkStatus(edgeCommonVO)) { - start(edgeCommonVO); + return getRGBImageStream(edgeCommonVO.getTerminalId(), edgeCommonVO.getDeviceId()); + } + + @Override + public StreamObserver getRGBImageStream(String terminalId, String deviceId) { + EdgeCommonVO edgeCommonVO = new EdgeCommonVO(); + edgeCommonVO.setTerminalId(terminalId); + edgeCommonVO.setDeviceId(deviceId); + CameraCommand.CameraState cameraState = status(edgeCommonVO); + if (cameraState.getIsError()) { + throw new GlobalException("Camera is in error state"); } - String terminalId = edgeCommonVO.getTerminalId(); - String deviceId = edgeCommonVO.getDeviceId(); + if (!cameraState.getIsOpened() || !cameraState.getIsStreaming()) { + start(edgeCommonVO); + cameraState = status(edgeCommonVO); + } + int frameRate = cameraState.getFps(); + String channel = "edgeCameraServiceImpl/getRGBImageStream/" + terminalId + "/" + deviceId; + String streamKey = terminalId + deviceId + "edgeCameraServiceImpl" + "getRGBImageStream"; + AtomicInteger sequence = new AtomicInteger(); + AtomicBoolean firstMediaChunk = new AtomicBoolean(true); + AtomicReference> requestObserverRef = new AtomicReference<>(); + + H265Fmp4Transcoder transcoder; + try { + transcoder = new H265Fmp4Transcoder( + terminalId + "-" + deviceId, + frameRate, + chunk -> { + int currentSequence = sequence.incrementAndGet(); + if (firstMediaChunk.compareAndSet(true, false)) { + log.info("摄像头流已输出首个fMP4片段, terminalId: {}, deviceId: {}, bytes: {}", + terminalId, deviceId, chunk.length); + } + messagePushService.pushH264Fmp4ToChannel(channel, chunk, currentSequence); + }, + throwable -> { + log.error("摄像头媒体转码失败, terminalId: {}, deviceId: {}", terminalId, deviceId, throwable); + messagePushService.pushToChannel(channel, "500"); + StreamObserver observer = requestObserverRef.get(); + if (observer != null) { + observer.onError(Status.INTERNAL.withDescription("媒体转码失败").withCause(throwable).asRuntimeException()); + } + } + ); + transcoder.start(); + } catch (IOException exception) { + throw new GlobalException("摄像头媒体转码器初始化失败: " + exception.getMessage()); + } + CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient(terminalId, CameraServiceGrpc.CameraServiceStub.class); - // 创建StreamObserver来处理响应 StreamObserver responseObserver = new StreamObserver() { @Override public void onNext(CameraCommand.GetRGBImageStreamCommand.Feedback value) { - CameraCommand.FrameData frame = value.getColorFrame(); - byte[] frameData = frame.getData().toByteArray(); - - if (frame.getIsKeyFrame()) { // I帧 - if (isCollectingFrames) { - // 处理之前的缓冲区数据 - String videoBase64 = H265DecoderUtil.convertH265FramesToVideo(framesBuffer); - if (videoBase64 != null) { - messagePushService.pushToChannel( - "edgeCameraServiceImpl/getRGBImageStream/" + terminalId + "/" + deviceId, - videoBase64 - ); - } - // 重置缓冲区 - framesBuffer.clear(); - } - // 开始新收集段 - framesBuffer.add(frameData); - isCollectingFrames = true; - } else { - // 非I帧且正在收集时加入缓冲区 - if (isCollectingFrames) { - framesBuffer.add(frameData); - } + try { + CameraCommand.FrameData frame = value.getColorFrame(); + transcoder.write(frame.getData().toByteArray(), frame.getIsKeyFrame(), frame.getCodec()); + } catch (IOException exception) { + log.error("写入摄像头媒体流失败, terminalId: {}, deviceId: {}", terminalId, deviceId, exception); + transcoder.close(); + messagePushService.pushToChannel(channel, "500"); } } @Override public void onError(Throwable t) { - // 记录详细的错误信息 - log.error("Error occurred in getRGBImageStream for terminalId: {}, deviceId: {}. Error: {}", terminalId, deviceId, t.getMessage(), t); - // 推送错误信息 - messagePushService.pushToChannel("edgeCameraServiceImpl/getRGBImageStream/" + terminalId + "/" + deviceId, "500"); + transcoder.close(); + GrpcStreamManager.removeStream(streamKey); + Status status = Status.fromThrowable(t); + if (status.getCode() != Status.Code.CANCELLED) { + log.error("摄像头gRPC流异常, terminalId: {}, deviceId: {}", terminalId, deviceId, t); + messagePushService.pushToChannel(channel, "500"); + } } @Override public void onCompleted() { - // 流结束 - System.out.println("Stream completed."); + transcoder.close(); + GrpcStreamManager.removeStream(streamKey); + log.info("摄像头gRPC流结束, terminalId: {}, deviceId: {}", terminalId, deviceId); } }; - // 创建StreamObserver来发送请求 - StreamObserver requestObserver = stub.getRGBImageStream(responseObserver); + StreamObserver grpcRequestObserver; + try { + grpcRequestObserver = stub.getRGBImageStream(responseObserver); + requestObserverRef.set(grpcRequestObserver); + } catch (RuntimeException exception) { + transcoder.close(); + throw exception; + } - // 构建请求并发送 CameraCommand.GetRGBImageStreamCommand.Request request = CameraCommand.GetRGBImageStreamCommand.Request.newBuilder() .setHeader(EdgeCommonUtil.buildRequest(deviceId)) .setEof(false) .build(); - requestObserver.onNext(request); - return requestObserver; + grpcRequestObserver.onNext(request); + return new StreamObserver() { + @Override + public void onNext(CameraCommand.GetRGBImageStreamCommand.Request value) { + grpcRequestObserver.onNext(value); + } + @Override + public void onError(Throwable throwable) { + transcoder.close(); + grpcRequestObserver.onError(throwable); + } + + @Override + public void onCompleted() { + transcoder.close(); + grpcRequestObserver.onCompleted(); + } + }; + + } + + @Override + public void writeRGBVideoStream(String terminalId, String deviceId, OutputStream outputStream) { + EdgeCommonVO edgeCommonVO = new EdgeCommonVO(); + edgeCommonVO.setTerminalId(terminalId); + edgeCommonVO.setDeviceId(deviceId); + CameraCommand.CameraState cameraState = status(edgeCommonVO); + if (cameraState.getIsError()) { + throw new GlobalException("Camera is in error state"); + } + if (!cameraState.getIsOpened() || !cameraState.getIsStreaming()) { + start(edgeCommonVO); + cameraState = status(edgeCommonVO); + } + + CountDownLatch finished = new CountDownLatch(1); + AtomicBoolean streamFinished = new AtomicBoolean(false); + AtomicReference> requestObserverRef = + new AtomicReference<>(); + Runnable finishStream = () -> { + if (streamFinished.compareAndSet(false, true)) { + finished.countDown(); + } + }; + + H265Fmp4Transcoder transcoder; + try { + transcoder = new H265Fmp4Transcoder( + "http-" + terminalId + "-" + deviceId, + cameraState.getFps(), + chunk -> { + try { + outputStream.write(chunk); + outputStream.flush(); + } catch (IOException exception) { + throw new CameraStreamWriteException(exception); + } + }, + throwable -> { + if (!(throwable instanceof CameraStreamWriteException)) { + log.error("HTTP camera media transcoding failed, terminalId: {}, deviceId: {}", + terminalId, deviceId, throwable); + } + finishStream.run(); + } + ); + transcoder.start(); + } catch (IOException exception) { + throw new GlobalException("Failed to initialize camera video stream: " + exception.getMessage()); + } + + CameraServiceGrpc.CameraServiceStub stub = grpcServiceManager.getGrpcClient( + terminalId, CameraServiceGrpc.CameraServiceStub.class); + StreamObserver responseObserver = + new StreamObserver() { + @Override + public void onNext(CameraCommand.GetRGBImageStreamCommand.Feedback value) { + CameraCommand.FrameData frame = value.getColorFrame(); + try { + transcoder.write(frame.getData().toByteArray(), frame.getIsKeyFrame(), frame.getCodec()); + } catch (IOException exception) { + log.error("Failed to write HTTP camera frame, terminalId: {}, deviceId: {}, codec: {}", + terminalId, deviceId, frame.getCodec(), exception); + finishStream.run(); + } + } + + @Override + public void onError(Throwable throwable) { + Status status = Status.fromThrowable(throwable); + if (status.getCode() != Status.Code.CANCELLED && !streamFinished.get()) { + log.warn("HTTP camera gRPC stream ended, terminalId: {}, deviceId: {}, status: {}", + terminalId, deviceId, status); + } + finishStream.run(); + } + + @Override + public void onCompleted() { + finishStream.run(); + } + }; + + try { + StreamObserver requestObserver = + stub.getRGBImageStream(responseObserver); + requestObserverRef.set(requestObserver); + requestObserver.onNext(CameraCommand.GetRGBImageStreamCommand.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(deviceId)) + .setEof(false) + .build()); + finished.await(); + } catch (InterruptedException exception) { + Thread.currentThread().interrupt(); + } finally { + transcoder.close(); + StreamObserver requestObserver = + requestObserverRef.getAndSet(null); + if (requestObserver != null) { + try { + requestObserver.onCompleted(); + } catch (RuntimeException ignored) { + } + } + } } @Override @@ -447,4 +656,57 @@ public class EdgeCameraServiceImpl implements EdgeCameraService, EdgeStreamServi } } } + + private String saveDepthImage(CameraCommand.FrameData frame) { + int pixelCount = frame.getWidth() * frame.getHeight(); + byte[] source = frame.getData().toByteArray(); + if (frame.getType() == CameraCommand.FrameData.FrameType.U8C1) { + if (source.length < pixelCount) { + throw new GlobalException("Depth image byte count is invalid"); + } + return saveImage(ByteString.copyFrom(source, 0, pixelCount), frame.getWidth(), frame.getHeight(), true); + } + + double[] values = new double[pixelCount]; + ByteBuffer buffer = ByteBuffer.wrap(source).order(ByteOrder.LITTLE_ENDIAN); + if (frame.getType() == CameraCommand.FrameData.FrameType.F32C1) { + if (source.length < pixelCount * Float.BYTES) { + throw new GlobalException("F32 depth image byte count is invalid"); + } + for (int i = 0; i < pixelCount; i++) values[i] = buffer.getFloat(); + } else if (frame.getType() == CameraCommand.FrameData.FrameType.U16C1 + || frame.getType() == CameraCommand.FrameData.FrameType.F16C1) { + if (source.length < pixelCount * Short.BYTES) { + throw new GlobalException("16-bit depth image byte count is invalid"); + } + for (int i = 0; i < pixelCount; i++) values[i] = Short.toUnsignedInt(buffer.getShort()); + } else { + throw new GlobalException("Unsupported depth frame type: " + frame.getType()); + } + + double min = Double.POSITIVE_INFINITY; + double max = Double.NEGATIVE_INFINITY; + for (double value : values) { + if (Double.isFinite(value) && value > 0) { + min = Math.min(min, value); + max = Math.max(max, value); + } + } + byte[] grayscale = new byte[pixelCount]; + if (Double.isFinite(min) && max > min) { + double scale = 255.0 / (max - min); + for (int i = 0; i < values.length; i++) { + double value = values[i]; + grayscale[i] = !Double.isFinite(value) || value <= 0 + ? 0 : (byte) Math.max(0, Math.min(255, Math.round((value - min) * scale))); + } + } + return saveImage(ByteString.copyFrom(grayscale), frame.getWidth(), frame.getHeight(), true); + } + + private static final class CameraStreamWriteException extends RuntimeException { + private CameraStreamWriteException(IOException cause) { + super(cause); + } + } } diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMotorServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMotorServiceImpl.java new file mode 100644 index 0000000..7066877 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeMotorServiceImpl.java @@ -0,0 +1,189 @@ +package com.cmvr.edge.client.service.impl; + +import cmvr.api.MotorCommand; +import cmvr.api.MotorServiceGrpc; +import com.cmvr.common.exception.GlobalException; +import com.cmvr.edge.client.manage.GrpcBidiSessionRegistry; +import com.cmvr.edge.client.manage.GrpcServiceManager; +import com.cmvr.edge.client.model.motor.EdgeMotorCyclicOpenVO; +import com.cmvr.edge.client.model.motor.EdgeMotorCyclicSetpointVO; +import com.cmvr.edge.client.model.motor.EdgeMotorEnabledVO; +import com.cmvr.edge.client.model.motor.EdgeMotorMotionVO; +import com.cmvr.edge.client.model.motor.EdgeMotorTargetVO; +import com.cmvr.edge.client.service.EdgeMotorService; +import com.cmvr.edge.client.utils.EdgeCommonUtil; +import lombok.RequiredArgsConstructor; +import org.springframework.stereotype.Service; + +import java.util.concurrent.ConcurrentHashMap; +import java.util.concurrent.ConcurrentMap; + +@Service +@RequiredArgsConstructor +public class EdgeMotorServiceImpl implements EdgeMotorService { + + private final GrpcServiceManager grpcServiceManager; + private final GrpcBidiSessionRegistry positionStreams = new GrpcBidiSessionRegistry<>(); + private final GrpcBidiSessionRegistry velocityStreams = new GrpcBidiSessionRegistry<>(); + private final ConcurrentMap streamTypes = new ConcurrentHashMap<>(); + + @Override + public MotorCommand.MotorCommandResponse setZero(EdgeMotorTargetVO request) { + return blockingStub(request.getTerminalId()).setZero(MotorCommand.SetMotorZeroRequest.newBuilder() + .setTarget(buildTarget(request)).build()); + } + + @Override + public MotorCommand.MotorCommandResponse moveToZero(EdgeMotorMotionVO request) { + MotorCommand.MoveMotorToZeroRequest.Builder builder = MotorCommand.MoveMotorToZeroRequest.newBuilder() + .setTarget(buildTarget(request)).setWait(buildWait(request)); + if (request.getMaxVelocityRadS() != null) builder.setMaxVelocityRadS(request.getMaxVelocityRadS()); + if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2()); + return blockingStub(request.getTerminalId()).moveToZero(builder.build()); + } + + @Override + public MotorCommand.MotorCommandResponse profilePosition(EdgeMotorMotionVO request) { + if (request.getTargetPositionRad() == null) { + throw new GlobalException("targetPositionRad cannot be empty"); + } + MotorCommand.ProfilePositionRequest.Builder builder = MotorCommand.ProfilePositionRequest.newBuilder() + .setTarget(buildTarget(request)) + .setTargetPositionRad(request.getTargetPositionRad()) + .setWait(buildWait(request)); + if (request.getMaxVelocityRadS() != null) builder.setMaxVelocityRadS(request.getMaxVelocityRadS()); + if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2()); + return blockingStub(request.getTerminalId()).profilePosition(builder.build()); + } + + @Override + public MotorCommand.MotorCommandResponse profileVelocity(EdgeMotorMotionVO request) { + if (request.getTargetVelocityRadS() == null) { + throw new GlobalException("targetVelocityRadS cannot be empty"); + } + MotorCommand.ProfileVelocityRequest.Builder builder = MotorCommand.ProfileVelocityRequest.newBuilder() + .setTarget(buildTarget(request)) + .setTargetVelocityRadS(request.getTargetVelocityRadS()) + .setWait(buildWait(request)); + if (request.getAccelerationRadS2() != null) builder.setAccelerationRadS2(request.getAccelerationRadS2()); + return blockingStub(request.getTerminalId()).profileVelocity(builder.build()); + } + + @Override + public MotorCommand.MotorCommandResponse emergencyStop(EdgeMotorTargetVO request) { + return blockingStub(request.getTerminalId()).emergencyStop(MotorCommand.EmergencyStopRequest.newBuilder() + .setTarget(buildTarget(request)).build()); + } + + @Override + public MotorCommand.GetMotorStatusResponse getStatus(EdgeMotorTargetVO request) { + return blockingStub(request.getTerminalId()).getStatus(MotorCommand.GetMotorStatusRequest.newBuilder() + .setTarget(buildTarget(request)).build()); + } + + @Override + public MotorCommand.MotorCommandResponse setEnabled(EdgeMotorEnabledVO request) { + return blockingStub(request.getTerminalId()).setEnabled(MotorCommand.SetMotorEnabledRequest.newBuilder() + .setTarget(buildTarget(request)).setEnabled(request.isEnabled()).build()); + } + + @Override + public String openCyclicPosition(EdgeMotorCyclicOpenVO request) { + MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getTerminalId()); + MotorCommand.CyclicPositionRequest open = MotorCommand.CyclicPositionRequest.newBuilder() + .setOpen(buildOpen(request)).build(); + String sessionId = positionStreams.open(stub::streamCyclicPosition, open); + streamTypes.put(sessionId, Boolean.TRUE); + return sessionId; + } + + @Override + public void sendCyclicPosition(EdgeMotorCyclicSetpointVO request) { + if (request.getTargetPositionRad() == null) { + throw new GlobalException("targetPositionRad cannot be empty"); + } + MotorCommand.CyclicPositionSetpoint.Builder setpoint = MotorCommand.CyclicPositionSetpoint.newBuilder() + .setSequence(request.getSequence()).setTargetPositionRad(request.getTargetPositionRad()); + if (request.getTargetVelocityRadS() != null) { + setpoint.setTargetVelocityRadS(request.getTargetVelocityRadS()); + } + positionStreams.send(request.getSessionId(), MotorCommand.CyclicPositionRequest.newBuilder() + .setSetpoint(setpoint).build()); + } + + @Override + public String openCyclicVelocity(EdgeMotorCyclicOpenVO request) { + MotorServiceGrpc.MotorServiceStub stub = asyncStub(request.getTerminalId()); + MotorCommand.CyclicVelocityRequest open = MotorCommand.CyclicVelocityRequest.newBuilder() + .setOpen(buildOpen(request)).build(); + String sessionId = velocityStreams.open(stub::streamCyclicVelocity, open); + streamTypes.put(sessionId, Boolean.FALSE); + return sessionId; + } + + @Override + public void sendCyclicVelocity(EdgeMotorCyclicSetpointVO request) { + if (request.getTargetVelocityRadS() == null) { + throw new GlobalException("targetVelocityRadS cannot be empty"); + } + MotorCommand.CyclicVelocitySetpoint setpoint = MotorCommand.CyclicVelocitySetpoint.newBuilder() + .setSequence(request.getSequence()).setTargetVelocityRadS(request.getTargetVelocityRadS()).build(); + velocityStreams.send(request.getSessionId(), MotorCommand.CyclicVelocityRequest.newBuilder() + .setSetpoint(setpoint).build()); + } + + @Override + public MotorCommand.CyclicControlResponse getStreamStatus(String sessionId) { + Boolean position = streamTypes.get(sessionId); + if (position == null) throw new GlobalException("Unknown stream session: " + sessionId); + return position ? positionStreams.getLatest(sessionId) : velocityStreams.getLatest(sessionId); + } + + @Override + public void closeStream(String sessionId) { + Boolean position = streamTypes.remove(sessionId); + if (position == null) throw new GlobalException("Unknown stream session: " + sessionId); + if (position) positionStreams.close(sessionId); else velocityStreams.close(sessionId); + } + + private MotorCommand.MotorTarget buildTarget(EdgeMotorTargetVO request) { + MotorCommand.MotorTarget.Builder builder = MotorCommand.MotorTarget.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(request.getDeviceId())); + if (request.getMotorId() != null) { + if (request.getMotorId() < 0) throw new GlobalException("motorId cannot be negative"); + builder.setMotorId(request.getMotorId()); + } else if (request.getJointName() != null && !request.getJointName().trim().isEmpty()) { + builder.setJointName(request.getJointName()); + } else { + throw new GlobalException("Either motorId or jointName must be provided"); + } + return builder.build(); + } + + private MotorCommand.MotorWaitOptions buildWait(EdgeMotorMotionVO request) { + MotorCommand.MotorWaitOptions.Builder builder = MotorCommand.MotorWaitOptions.newBuilder(); + if (request.getTimeoutMs() != null) builder.setTimeoutMs(request.getTimeoutMs()); + if (request.getPollPeriodMs() != null) builder.setPollPeriodMs(request.getPollPeriodMs()); + if (request.getPositionToleranceRad() != null) builder.setPositionToleranceRad(request.getPositionToleranceRad()); + if (request.getVelocityToleranceRadS() != null) builder.setVelocityToleranceRadS(request.getVelocityToleranceRadS()); + if (request.getSettleSampleCount() != null) builder.setSettleSampleCount(request.getSettleSampleCount()); + return builder.build(); + } + + private MotorCommand.CyclicStreamOpen buildOpen(EdgeMotorCyclicOpenVO request) { + MotorCommand.CyclicStreamOpen.Builder builder = MotorCommand.CyclicStreamOpen.newBuilder() + .setTarget(buildTarget(request)); + if (request.getWatchdogTimeoutMs() != null) builder.setWatchdogTimeoutMs(request.getWatchdogTimeoutMs()); + return builder.build(); + } + + private MotorServiceGrpc.MotorServiceBlockingStub blockingStub(String terminalId) { + return grpcServiceManager.getGrpcClient(terminalId, MotorServiceGrpc.MotorServiceBlockingStub.class); + } + + private MotorServiceGrpc.MotorServiceStub asyncStub(String terminalId) { + return grpcServiceManager.getGrpcClient(terminalId, MotorServiceGrpc.MotorServiceStub.class); + } +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java index 7df13d2..4167172 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeSystemServiceImpl.java @@ -1,18 +1,24 @@ package com.cmvr.edge.client.service.impl; +import cmvr.api.Common; import cmvr.api.SystemCommand; import cmvr.api.SystemServiceGrpc; import com.alibaba.fastjson2.JSON; import com.cmvr.device.domain.DeDeviceRegistration; import com.cmvr.edge.client.manage.GrpcServiceManager; +import com.cmvr.edge.client.model.system.EdgeSystemJsonCommandVO; +import com.cmvr.edge.client.model.system.EdgeSystemUpdateParamsVO; import com.cmvr.edge.client.service.EdgeSystemService; import com.cmvr.edge.client.utils.EdgeCommonUtil; +import com.cmvr.common.exception.GlobalException; +import com.google.protobuf.ByteString; import lombok.RequiredArgsConstructor; import org.slf4j.Logger; import org.slf4j.LoggerFactory; import org.springframework.stereotype.Service; import java.util.ArrayList; +import java.util.Base64; import java.util.List; /** @@ -29,6 +35,75 @@ public class EdgeSystemServiceImpl implements EdgeSystemService { private final GrpcServiceManager grpcServiceManager; + @Override + public SystemCommand.GetSystemInfoCommand.Feedback getSystemInfo(String terminalId) { + SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + terminalId, SystemServiceGrpc.SystemServiceBlockingStub.class); + return stub.getSystemInfo(SystemCommand.GetSystemInfoCommand.Request.newBuilder().build()); + } + + @Override + public Common.CommandHeader.Feedback updateParams(EdgeSystemUpdateParamsVO request) { + SystemCommand.UpdateParamsCommand.Request.Builder requestBuilder = + SystemCommand.UpdateParamsCommand.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(request.getDeviceId())); + if (request.getParams() != null) { + for (EdgeSystemUpdateParamsVO.Param param : request.getParams()) { + requestBuilder.addParams(buildParam(param)); + } + } + SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + request.getTerminalId(), SystemServiceGrpc.SystemServiceBlockingStub.class); + return stub.updateParams(requestBuilder.build()).getHeader(); + } + + @Override + public Common.JsonDeviceCommand.Feedback executeJsonCommand(EdgeSystemJsonCommandVO request) { + Common.JsonDeviceCommand.Request grpcRequest = Common.JsonDeviceCommand.Request.newBuilder() + .setHeader(EdgeCommonUtil.buildRequest(request.getDeviceId())) + .setRequestJson(request.getRequestJson() == null ? "" : request.getRequestJson()) + .build(); + SystemServiceGrpc.SystemServiceBlockingStub stub = grpcServiceManager.getGrpcClient( + request.getTerminalId(), SystemServiceGrpc.SystemServiceBlockingStub.class); + return stub.executeJsonCommand(grpcRequest); + } + + private Common.ConfigParam buildParam(EdgeSystemUpdateParamsVO.Param param) { + if (param == null || param.getName() == null || param.getName().trim().isEmpty()) { + throw new GlobalException("Parameter name cannot be empty"); + } + Common.ConfigParam.Builder builder = Common.ConfigParam.newBuilder().setParamName(param.getName()); + int valueCount = 0; + if (param.getIntValue() != null) { + builder.setIntValue(param.getIntValue()); + valueCount++; + } + if (param.getDoubleValue() != null) { + builder.setDoubleValue(param.getDoubleValue()); + valueCount++; + } + if (param.getStringValue() != null) { + builder.setStringValue(param.getStringValue()); + valueCount++; + } + if (param.getBoolValue() != null) { + builder.setBoolValue(param.getBoolValue()); + valueCount++; + } + if (param.getBytesBase64() != null) { + try { + builder.setBytesValue(ByteString.copyFrom(Base64.getDecoder().decode(param.getBytesBase64()))); + } catch (IllegalArgumentException exception) { + throw new GlobalException("Invalid Base64 value for parameter " + param.getName()); + } + valueCount++; + } + if (valueCount != 1) { + throw new GlobalException("Parameter " + param.getName() + " must contain exactly one typed value"); + } + return builder.build(); + } + public List deviceList(String terminalId){ @@ -123,4 +198,4 @@ public class EdgeSystemServiceImpl implements EdgeSystemService { return null; } } -} \ No newline at end of file +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/GrpcClientServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/GrpcClientServiceImpl.java index 8a8f48a..379c8a0 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/GrpcClientServiceImpl.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/GrpcClientServiceImpl.java @@ -3,6 +3,7 @@ package com.cmvr.edge.client.service.impl; import com.cmvr.edge.client.manage.GrpcStreamManager; import com.cmvr.edge.client.service.EdgeStreamService; import com.cmvr.framework.websocket.service.GrpcClientService; +import com.cmvr.framework.websocket.manager.ChannelSubscriptionManager; import io.grpc.Status; import io.grpc.stub.StreamObserver; import org.slf4j.Logger; @@ -12,6 +13,7 @@ import org.springframework.stereotype.Service; import java.lang.reflect.Method; import java.util.Map; +import java.util.concurrent.ConcurrentHashMap; /** * grpc客户端服务实现类 @@ -26,10 +28,14 @@ public class GrpcClientServiceImpl implements GrpcClientService { * 所有流式服务 */ private final Map serviceMap; + private final ChannelSubscriptionManager channelSubscriptionManager; + private final Map streamLocks = new ConcurrentHashMap<>(); @Autowired - public GrpcClientServiceImpl(Map serviceMap) { + public GrpcClientServiceImpl(Map serviceMap, + ChannelSubscriptionManager channelSubscriptionManager) { this.serviceMap = serviceMap; + this.channelSubscriptionManager = channelSubscriptionManager; } @Override @@ -43,25 +49,31 @@ public class GrpcClientServiceImpl implements GrpcClientService { // 构造流键 String key = terminalId + deviceId + service + method; + String channel = service + "/" + method + "/" + terminalId + "/" + deviceId; + Object streamLock = streamLocks.computeIfAbsent(key, ignored -> new Object()); - if (isStart) { - // 通过反射调用指定方法 - Method streamMethod = serviceInstance.getClass().getMethod(method, String.class, String.class); - StreamObserver streamObserver = (StreamObserver) streamMethod.invoke(serviceInstance, terminalId, deviceId); - if (streamObserver != null) { - GrpcStreamManager.addStream(key, streamObserver); - } - } else { - if (!GrpcStreamManager.containsKey(key)) { - return; - } - // 移除并关闭流 - StreamObserver streamObserver = GrpcStreamManager.removeStream(key); - try { - streamObserver.onError(Status.CANCELLED.withDescription("流需要关闭").asException()); - log.info("流关闭: {}", key); - } catch (Exception e) { - log.info("流结束"); + synchronized (streamLock) { + if (isStart) { + if (GrpcStreamManager.containsKey(key)) { + return; + } + Method streamMethod = serviceInstance.getClass().getMethod(method, String.class, String.class); + StreamObserver streamObserver = (StreamObserver) streamMethod.invoke(serviceInstance, terminalId, deviceId); + if (streamObserver != null) { + GrpcStreamManager.addStream(key, streamObserver); + } + } else { + // 旧连接的异步取消到达时，如果已有新订阅者，则继续复用当前流。 + if (channelSubscriptionManager.hasSubscribers(channel) || !GrpcStreamManager.containsKey(key)) { + return; + } + StreamObserver streamObserver = GrpcStreamManager.removeStream(key); + try { + streamObserver.onError(Status.CANCELLED.withDescription("流需要关闭").asException()); + log.info("流关闭: {}", key); + } catch (Exception e) { + log.info("流结束"); + } } } } catch (Exception e) { diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/utils/H265Fmp4Transcoder.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/utils/H265Fmp4Transcoder.java new file mode 100644 index 0000000..c4f9495 --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/utils/H265Fmp4Transcoder.java @@ -0,0 +1,593 @@ +package com.cmvr.edge.client.utils; + +import org.bytedeco.ffmpeg.global.avcodec; +import org.bytedeco.javacv.FFmpegFrameGrabber; +import org.bytedeco.javacv.FFmpegFrameRecorder; +import org.bytedeco.javacv.Frame; +import org.slf4j.Logger; +import org.slf4j.LoggerFactory; + +import java.io.ByteArrayOutputStream; +import java.io.IOException; +import java.io.InputStream; +import java.io.OutputStream; +import java.util.ArrayDeque; +import java.util.Deque; +import java.util.Locale; +import java.util.concurrent.atomic.AtomicBoolean; +import java.util.function.Consumer; + +/** + * 将一条连续 H.265 裸码流转换为浏览器 MediaSource 可追加的 H.264 fragmented MP4。 + */ +public final class H265Fmp4Transcoder implements AutoCloseable { + + private static final Logger log = LoggerFactory.getLogger(H265Fmp4Transcoder.class); + public static final String MIME_TYPE = "video/mp4; codecs=\"avc1.42C01E\""; + private static final int MAX_QUEUED_BYTES = 512 * 1024; + + private final Consumer errorConsumer; + private final String streamName; + private final int configuredFrameRate; + private final LiveEncodedVideoInputStream inputStream; + private final MediaChunkOutputStream outputStream; + private final AtomicBoolean closed = new AtomicBoolean(false); + private final Thread worker; + + private volatile FFmpegFrameGrabber grabber; + private volatile FFmpegFrameRecorder recorder; + + public H265Fmp4Transcoder(String streamName, + int configuredFrameRate, + Consumer chunkConsumer, + Consumer errorConsumer) throws IOException { + this.errorConsumer = errorConsumer; + this.streamName = streamName; + this.configuredFrameRate = configuredFrameRate; + int maxQueuedFrames = Math.max(4, Math.min(20, + (int) Math.ceil((configuredFrameRate > 0 ? configuredFrameRate : 25) * 0.35D))); + this.inputStream = new LiveEncodedVideoInputStream(streamName, maxQueuedFrames, MAX_QUEUED_BYTES); + this.outputStream = new MediaChunkOutputStream(chunkConsumer); + this.worker = new Thread(this::transcode, "camera-fmp4-" + streamName); + this.worker.setDaemon(true); + } + + public void start() { + worker.start(); + } + + /** + * gRPC按顺序写入编码帧；管道满时自然背压，防止无限堆积导致延迟持续增长。 + */ + public void write(byte[] encodedFrame, boolean keyFrame, String codec) throws IOException { + if (encodedFrame == null || encodedFrame.length == 0 || closed.get()) { + return; + } + inputStream.offer(encodedFrame, keyFrame, codec); + } + + private void transcode() { + try { + InputCodec inputCodec = inputStream.awaitInputCodec(); + grabber = new FFmpegFrameGrabber(inputStream, 0); + grabber.setFormat(inputCodec.ffmpegFormat); + grabber.setOption("fflags", "nobuffer"); + grabber.setOption("flags", "low_delay"); + grabber.setOption("probesize", "32768"); + // The codec and sequence headers are known before startup, so probing can stay disabled for live input. + grabber.start(false); + inputStream.markDecoderInitialized(); + + Frame frame = grabber.grabImage(); + if (frame == null) { + throw new IllegalStateException("H.265码流未产生可解码图像"); + } + int width = frame.imageWidth > 0 ? frame.imageWidth : grabber.getImageWidth(); + int height = frame.imageHeight > 0 ? frame.imageHeight : grabber.getImageHeight(); + if (width <= 0 || height <= 0) { + throw new IllegalStateException("无法从H.265码流读取图像尺寸"); + } + log.info("摄像头流{}识别到首帧: {}x{}", streamName, width, height); + + double sourceFrameRate = configuredFrameRate; + if (!Double.isFinite(sourceFrameRate) || sourceFrameRate <= 0) { + sourceFrameRate = grabber.getFrameRate(); + } + if (!Double.isFinite(sourceFrameRate) || sourceFrameRate <= 0) { + sourceFrameRate = 25D; + } + sourceFrameRate = Math.max(5D, Math.min(sourceFrameRate, 60D)); + double outputFrameRate = Math.min(sourceFrameRate, 25D); + int gopSize = Math.max(1, (int) Math.round(outputFrameRate * 0.4D)); + long sourceFrameDurationMicros = Math.max(1L, Math.round(1_000_000D / sourceFrameRate)); + long outputFrameDurationMicros = Math.max(1L, Math.round(1_000_000D / outputFrameRate)); + log.info("Camera stream {} uses {} source fps, {} output fps and a {} frame GOP", + streamName, sourceFrameRate, outputFrameRate, gopSize); + + recorder = new FFmpegFrameRecorder(outputStream, width, height, 0); + recorder.setFormat("mp4"); + recorder.setVideoCodec(avcodec.AV_CODEC_ID_H264); + recorder.setFrameRate(outputFrameRate); + recorder.setGopSize(gopSize); + recorder.setVideoBitrate(4_000_000); + recorder.setVideoOption("preset", "ultrafast"); + recorder.setVideoOption("tune", "zerolatency"); + recorder.setVideoOption("bf", "0"); + recorder.setOption("movflags", "frag_keyframe+empty_moov+default_base_moof+omit_tfhd_offset"); + recorder.setOption("frag_duration", "100000"); + recorder.setOption("flush_packets", "1"); + recorder.start(); + outputStream.publishAvailable(); + + long sourceFrameIndex = 0L; + long nextOutputTimestampMicros = 0L; + do { + long sourceTimestampMicros = sourceFrameIndex * sourceFrameDurationMicros; + if (sourceTimestampMicros + sourceFrameDurationMicros / 2 >= nextOutputTimestampMicros) { + recorder.setTimestamp(nextOutputTimestampMicros); + recorder.record(frame); + nextOutputTimestampMicros += outputFrameDurationMicros; + outputStream.publishAvailable(); + } + sourceFrameIndex++; + } while (!closed.get() && (frame = grabber.grabImage()) != null); + } catch (Throwable throwable) { + if (!closed.get()) { + errorConsumer.accept(throwable); + } + } finally { + releaseNativeResources(); + try { + outputStream.publishAvailable(); + } catch (RuntimeException ignored) { + } + inputStream.close(); + closed.set(true); + } + } + + @Override + public void close() { + if (!closed.compareAndSet(false, true)) { + return; + } + inputStream.close(); + worker.interrupt(); + } + + private void releaseNativeResources() { + FFmpegFrameRecorder currentRecorder = recorder; + recorder = null; + if (currentRecorder != null) { + try { + currentRecorder.stop(); + } catch (Exception ignored) { + } + try { + currentRecorder.release(); + } catch (Exception ignored) { + } + } + + FFmpegFrameGrabber currentGrabber = grabber; + grabber = null; + if (currentGrabber != null) { + try { + currentGrabber.stop(); + } catch (Exception ignored) { + } + try { + currentGrabber.release(); + } catch (Exception ignored) { + } + } + } + + private enum InputCodec { + H264("h264", "H.264"), + H265("hevc", "H.265"); + + private final String ffmpegFormat; + private final String displayName; + + InputCodec(String ffmpegFormat, String displayName) { + this.ffmpegFormat = ffmpegFormat; + this.displayName = displayName; + } + } + + private static final class LiveEncodedVideoInputStream extends InputStream { + private final String streamName; + private final int maxQueuedFrames; + private final int maxQueuedBytes; + private final Deque queue = new ArrayDeque<>(); + private byte[] currentFrame; + private int currentOffset; + private int queuedBytes; + private boolean droppingUntilKeyFrame; + private boolean closed; + private long droppedFrames; + private long lastDropLogNanos; + private InputCodec inputCodec; + private boolean sequenceHeaderSeen; + private boolean decoderStarted; + private boolean decoderInitialized; + private boolean h264SpsSeen; + private boolean h264PpsSeen; + private boolean framingNormalizationLogged; + + private LiveEncodedVideoInputStream(String streamName, int maxQueuedFrames, int maxQueuedBytes) { + this.streamName = streamName; + this.maxQueuedFrames = maxQueuedFrames; + this.maxQueuedBytes = maxQueuedBytes; + } + + private synchronized void offer(byte[] data, boolean keyFrame, String codecHint) throws IOException { + if (closed) { + return; + } + + byte[] normalizedData = normalizeToAnnexB(data, codecHint); + if (normalizedData != data && !framingNormalizationLogged) { + framingNormalizationLogged = true; + log.info("Camera stream {} normalized {} packets to Annex-B framing", streamName, codecHint); + } + data = normalizedData; + + InputCodec encodedFrameCodec = detectEncodedFrameCodec(data); + InputCodec detectedCodec = encodedFrameCodec != null ? encodedFrameCodec : detectCodecHint(codecHint); + if (detectedCodec != null) { + if (inputCodec != null && inputCodec != detectedCodec) { + throw new IOException("Camera stream codec changed from " + inputCodec.displayName + + " to " + detectedCodec.displayName + "; reconnect the stream"); + } + if (inputCodec == null) { + inputCodec = detectedCodec; + log.info("Camera stream {} selected {} decoder (codec hint: {})", + streamName, inputCodec.displayName, + codecHint == null || codecHint.isBlank() ? "NAL detection" : codecHint); + notifyAll(); + } + } + + boolean h264SpsFrame = inputCodec == InputCodec.H264 && containsNalType(data, InputCodec.H264, 7); + boolean h264PpsFrame = inputCodec == InputCodec.H264 && containsNalType(data, InputCodec.H264, 8); + boolean h265SpsFrame = inputCodec == InputCodec.H265 && containsNalType(data, InputCodec.H265, 33); + boolean sequenceHeaderStart = h264SpsFrame || h265SpsFrame; + if (sequenceHeaderStart && !decoderStarted) { + int staleFrames = queue.size(); + queue.clear(); + queuedBytes = 0; + droppingUntilKeyFrame = false; + recordDrop(staleFrames); + if (inputCodec == InputCodec.H264) { + h264SpsSeen = false; + h264PpsSeen = false; + } + } + + boolean wasSequenceHeaderSeen = sequenceHeaderSeen; + if (inputCodec == InputCodec.H264) { + h264SpsSeen |= h264SpsFrame; + h264PpsSeen |= h264PpsFrame; + sequenceHeaderSeen = h264SpsSeen && h264PpsSeen; + } else if (inputCodec == InputCodec.H265) { + sequenceHeaderSeen |= h265SpsFrame; + } + if (!wasSequenceHeaderSeen && sequenceHeaderSeen) { + log.info("Camera stream {} received the {} sequence header; decoder can start", + streamName, inputCodec.displayName); + } + + if (droppingUntilKeyFrame) { + if (!keyFrame) { + recordDrop(1); + return; + } + droppingUntilKeyFrame = false; + } + + boolean queueOverloaded = queue.size() >= maxQueuedFrames + || queuedBytes + data.length > maxQueuedBytes; + boolean newerGopAvailable = decoderInitialized && keyFrame + && queue.size() >= Math.max(2, maxQueuedFrames / 2); + if (queueOverloaded || newerGopAvailable) { + int staleFrames = queue.size(); + queue.clear(); + queuedBytes = 0; + recordDrop(staleFrames); + if (!keyFrame) { + droppingUntilKeyFrame = true; + recordDrop(1); + return; + } + } + + queue.addLast(new EncodedFrame(data)); + queuedBytes += data.length; + notifyAll(); + } + + private synchronized InputCodec awaitInputCodec() throws IOException { + while (!closed && (inputCodec == null || !sequenceHeaderSeen)) { + try { + wait(); + } catch (InterruptedException exception) { + Thread.currentThread().interrupt(); + throw new IOException("Interrupted while waiting for camera codec", exception); + } + } + if (inputCodec == null || !sequenceHeaderSeen) { + throw new IOException("Camera stream closed before its H.264/H.265 sequence header was received"); + } + decoderStarted = true; + return inputCodec; + } + + private synchronized void markDecoderInitialized() { + decoderInitialized = true; + } + + @Override + public synchronized int read() throws IOException { + byte[] oneByte = new byte[1]; + int count = read(oneByte, 0, 1); + return count < 0 ? -1 : oneByte[0] & 0xFF; + } + + @Override + public synchronized int read(byte[] target, int offset, int length) throws IOException { + while (!closed && !ensureCurrentFrame()) { + try { + wait(); + } catch (InterruptedException exception) { + Thread.currentThread().interrupt(); + throw new IOException("Interrupted while waiting for encoded video data", exception); + } + } + if (!ensureCurrentFrame()) { + return -1; + } + + int count = Math.min(length, currentFrame.length - currentOffset); + System.arraycopy(currentFrame, currentOffset, target, offset, count); + currentOffset += count; + if (currentOffset >= currentFrame.length) { + currentFrame = null; + currentOffset = 0; + } + return count; + } + + @Override + public synchronized int available() { + int currentBytes = currentFrame == null ? 0 : currentFrame.length - currentOffset; + return currentBytes + queuedBytes; + } + + @Override + public synchronized void close() { + closed = true; + queue.clear(); + queuedBytes = 0; + currentFrame = null; + notifyAll(); + } + + private boolean ensureCurrentFrame() { + if (currentFrame != null && currentOffset < currentFrame.length) { + return true; + } + EncodedFrame next = queue.pollFirst(); + if (next == null) { + return false; + } + queuedBytes -= next.data.length; + currentFrame = next.data; + currentOffset = 0; + return true; + } + + private void recordDrop(long count) { + if (count <= 0) { + return; + } + droppedFrames += count; + long now = System.nanoTime(); + if (now - lastDropLogNanos >= 1_000_000_000L) { + log.warn("Camera stream {} is behind; dropped {} stale encoded frames and will resume at the latest key frame", + streamName, droppedFrames); + droppedFrames = 0; + lastDropLogNanos = now; + } + } + } + + private static byte[] normalizeToAnnexB(byte[] data, String codecHint) { + if (hasAnnexBStartCode(data)) { + return data; + } + + byte[] converted = convertLengthPrefixedToAnnexB(data); + if (converted != null) { + return converted; + } + + if (detectCodecHint(codecHint) != null) { + byte[] prefixed = new byte[data.length + 4]; + prefixed[3] = 1; + System.arraycopy(data, 0, prefixed, 4, data.length); + return prefixed; + } + return data; + } + + private static boolean hasAnnexBStartCode(byte[] data) { + int scanLimit = Math.min(data.length - 2, 8); + for (int index = 0; index < scanLimit; index++) { + if (startCodeLength(data, index) > 0) { + return true; + } + } + return false; + } + + private static byte[] convertLengthPrefixedToAnnexB(byte[] data) { + if (data.length < 5) { + return null; + } + int offset = 0; + int nalCount = 0; + ByteArrayOutputStream output = new ByteArrayOutputStream(data.length + 16); + while (offset + 4 <= data.length) { + long nalLength = ((long) (data[offset] & 0xFF) << 24) + | ((long) (data[offset + 1] & 0xFF) << 16) + | ((long) (data[offset + 2] & 0xFF) << 8) + | (data[offset + 3] & 0xFFL); + offset += 4; + if (nalLength <= 0 || nalLength > data.length - offset) { + return null; + } + output.write(0); + output.write(0); + output.write(0); + output.write(1); + output.write(data, offset, (int) nalLength); + offset += (int) nalLength; + nalCount++; + } + return offset == data.length && nalCount > 0 ? output.toByteArray() : null; + } + + private static InputCodec detectCodecHint(String codecHint) { + if (codecHint != null && !codecHint.isBlank()) { + String normalized = codecHint.trim().toLowerCase(Locale.ROOT); + if (normalized.contains("h265") || normalized.contains("h.265") + || normalized.contains("hevc") || normalized.contains("hev1") + || normalized.contains("hvc1")) { + return InputCodec.H265; + } + if (normalized.contains("h264") || normalized.contains("h.264") + || normalized.contains("avc") || normalized.contains("avc1")) { + return InputCodec.H264; + } + } + return null; + } + + private static boolean containsNalType(byte[] data, InputCodec codec, int expectedType) { + for (int index = 0; index + 3 < data.length; index++) { + int startCodeLength = startCodeLength(data, index); + if (startCodeLength > 0) { + int nalType = nalType(codec, data[index + startCodeLength] & 0xFF); + if (nalType == expectedType) { + return true; + } + index += startCodeLength - 1; + } + } + return false; + } + + private static int nalType(InputCodec codec, int header) { + return codec == InputCodec.H264 ? header & 0x1F : (header >> 1) & 0x3F; + } + + private static InputCodec detectEncodedFrameCodec(byte[] data) { + if (data == null || data.length == 0) { + return null; + } + for (int index = 0; index + 3 < data.length; index++) { + int startCodeLength = startCodeLength(data, index); + if (startCodeLength > 0) { + InputCodec codec = detectNalHeader(data[index + startCodeLength] & 0xFF); + if (codec != null) { + return codec; + } + index += startCodeLength - 1; + } + } + + int offset = 0; + while (offset + 5 <= data.length) { + long nalLength = ((long) (data[offset] & 0xFF) << 24) + | ((long) (data[offset + 1] & 0xFF) << 16) + | ((long) (data[offset + 2] & 0xFF) << 8) + | (data[offset + 3] & 0xFFL); + if (nalLength <= 0 || nalLength > data.length - offset - 4L) { + break; + } + InputCodec codec = detectNalHeader(data[offset + 4] & 0xFF); + if (codec != null) { + return codec; + } + offset += 4 + (int) nalLength; + } + return null; + } + + private static int startCodeLength(byte[] data, int index) { + if (index + 2 < data.length && data[index] == 0 && data[index + 1] == 0) { + if (data[index + 2] == 1) { + return 3; + } + if (index + 3 < data.length && data[index + 2] == 0 && data[index + 3] == 1) { + return 4; + } + } + return 0; + } + + private static InputCodec detectNalHeader(int header) { + int h264Type = header & 0x1F; + if (h264Type == 7) { + return InputCodec.H264; + } + int h265Type = (header >> 1) & 0x3F; + if (h265Type == 33) { + return InputCodec.H265; + } + return null; + } + + private static final class EncodedFrame { + private final byte[] data; + + private EncodedFrame(byte[] data) { + this.data = data; + } + } + + private static final class MediaChunkOutputStream extends OutputStream { + private final ByteArrayOutputStream buffer = new ByteArrayOutputStream(128 * 1024); + private final Consumer consumer; + + private MediaChunkOutputStream(Consumer consumer) { + this.consumer = consumer; + } + + @Override + public synchronized void write(int value) { + buffer.write(value); + } + + @Override + public synchronized void write(byte[] bytes, int offset, int length) { + buffer.write(bytes, offset, length); + } + + @Override + public synchronized void flush() { + publishAvailable(); + } + + private synchronized void publishAvailable() { + if (buffer.size() == 0) { + return; + } + byte[] chunk = buffer.toByteArray(); + buffer.reset(); + consumer.accept(chunk); + } + } +} diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/README.md b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/README.md new file mode 100644 index 0000000..ed71adb --- /dev/null +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/README.md @@ -0,0 +1,21 @@ +# CMVR-ES Proto Contract + +This module maintains a one-way mirror of protobuf definitions from the +`xtkuang_dev` branch of the CMVR-ES repository. + +During Maven's `initialize` phase, the build performs a shallow sparse clone +of the upstream `protos/cmvr/api`, `protos/cmvr/msgs`, and +`protos/cmvr/common` directories. These directories replace the local +`src/main/proto/cmvr` mirror, and Java/gRPC sources are regenerated under +`src/main/java/cmvr` so Maven and IDE compilation use the same files. + +The build machine must have `git` installed and read access to the CMVR-ES +SSH repository. The upstream repository and ref can be overridden when +needed: + +```shell +mvn -Dcmvr.es.repository= -Dcmvr.es.proto.ref= compile +``` + +Do not edit local proto or generated Java files. The next Maven build replaces +them with the current upstream definitions. diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/pom.xml b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/pom.xml index 6250b77..3ac15ad 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/pom.xml +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/pom.xml @@ -10,6 +10,12 @@ cmvr-iot-grpc-lib + + + ssh://git@192.168.28.10:10022/SmartBench/cmvr-es.git + xtkuang_dev + ${project.build.directory}/cmvr-es + cmvr-iot gRPC 公共 proto 生成库 @@ -52,6 +58,64 @@ + + org.apache.maven.plugins + maven-antrun-plugin + 3.1.0 + + + fetch-cmvr-es-protos + initialize + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + + run + + + + org.xolstice.maven.plugins protobuf-maven-plugin @@ -60,10 +124,14 @@ com.google.protobuf:protoc:3.21.7:exe:${os.detected.classifier} grpc-java io.grpc:protoc-gen-grpc-java:1.52.0:exe:${os.detected.classifier} - + ${basedir}/src/main/proto ${basedir}/src/main/java - false + + cmvr/api/*.proto + cmvr/msgs/*.proto + cmvr/common/*.proto + @@ -85,4 +153,4 @@ - \ No newline at end of file + diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvCommand.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvCommand.java index ccd10f4..475c480 100644 --- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvCommand.java +++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/AgvCommand.java @@ -775,7 +775,7 @@ public final class AgvCommand { * .cmvr.msgs.AgvRuntimeState state = 2; * @return The state. */ - cmvr.msgs.Agv.AgvRuntimeState getState(); + cmvr.msgs.AgvUtils.AgvRuntimeState getState(); /** * 
        * AGV 当前运行状态快照。
@@ -783,7 +783,7 @@ public final class AgvCommand {
        *
        * .cmvr.msgs.AgvRuntimeState state = 2;
        */
-      cmvr.msgs.Agv.AgvRuntimeStateOrBuilder getStateOrBuilder();
+      cmvr.msgs.AgvUtils.AgvRuntimeStateOrBuilder getStateOrBuilder();
     }
     /**
      * 
@@ -868,7 +868,7 @@ public final class AgvCommand {
       }
 
       public static final int STATE_FIELD_NUMBER = 2;
-      private cmvr.msgs.Agv.AgvRuntimeState state_;
+      private cmvr.msgs.AgvUtils.AgvRuntimeState state_;
       /**
        * 
        * AGV 当前运行状态快照。
@@ -890,8 +890,8 @@ public final class AgvCommand {
        * @return The state.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvRuntimeState getState() {
-        return state_ == null ? cmvr.msgs.Agv.AgvRuntimeState.getDefaultInstance() : state_;
+      public cmvr.msgs.AgvUtils.AgvRuntimeState getState() {
+        return state_ == null ? cmvr.msgs.AgvUtils.AgvRuntimeState.getDefaultInstance() : state_;
       }
       /**
        * 
@@ -901,7 +901,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvRuntimeState state = 2;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvRuntimeStateOrBuilder getStateOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvRuntimeStateOrBuilder getStateOrBuilder() {
         return getState();
       }
 
@@ -1431,9 +1431,9 @@ public final class AgvCommand {
           return headerBuilder_;
         }
 
-        private cmvr.msgs.Agv.AgvRuntimeState state_;
+        private cmvr.msgs.AgvUtils.AgvRuntimeState state_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvRuntimeState, cmvr.msgs.Agv.AgvRuntimeState.Builder, cmvr.msgs.Agv.AgvRuntimeStateOrBuilder> stateBuilder_;
+            cmvr.msgs.AgvUtils.AgvRuntimeState, cmvr.msgs.AgvUtils.AgvRuntimeState.Builder, cmvr.msgs.AgvUtils.AgvRuntimeStateOrBuilder> stateBuilder_;
         /**
          * 
          * AGV 当前运行状态快照。
@@ -1453,9 +1453,9 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvRuntimeState state = 2;
          * @return The state.
          */
-        public cmvr.msgs.Agv.AgvRuntimeState getState() {
+        public cmvr.msgs.AgvUtils.AgvRuntimeState getState() {
           if (stateBuilder_ == null) {
-            return state_ == null ? cmvr.msgs.Agv.AgvRuntimeState.getDefaultInstance() : state_;
+            return state_ == null ? cmvr.msgs.AgvUtils.AgvRuntimeState.getDefaultInstance() : state_;
           } else {
             return stateBuilder_.getMessage();
           }
@@ -1467,7 +1467,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvRuntimeState state = 2;
          */
-        public Builder setState(cmvr.msgs.Agv.AgvRuntimeState value) {
+        public Builder setState(cmvr.msgs.AgvUtils.AgvRuntimeState value) {
           if (stateBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -1488,7 +1488,7 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvRuntimeState state = 2;
          */
         public Builder setState(
-            cmvr.msgs.Agv.AgvRuntimeState.Builder builderForValue) {
+            cmvr.msgs.AgvUtils.AgvRuntimeState.Builder builderForValue) {
           if (stateBuilder_ == null) {
             state_ = builderForValue.build();
             onChanged();
@@ -1505,11 +1505,11 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvRuntimeState state = 2;
          */
-        public Builder mergeState(cmvr.msgs.Agv.AgvRuntimeState value) {
+        public Builder mergeState(cmvr.msgs.AgvUtils.AgvRuntimeState value) {
           if (stateBuilder_ == null) {
             if (state_ != null) {
               state_ =
-                cmvr.msgs.Agv.AgvRuntimeState.newBuilder(state_).mergeFrom(value).buildPartial();
+                cmvr.msgs.AgvUtils.AgvRuntimeState.newBuilder(state_).mergeFrom(value).buildPartial();
             } else {
               state_ = value;
             }
@@ -1545,7 +1545,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvRuntimeState state = 2;
          */
-        public cmvr.msgs.Agv.AgvRuntimeState.Builder getStateBuilder() {
+        public cmvr.msgs.AgvUtils.AgvRuntimeState.Builder getStateBuilder() {
           
           onChanged();
           return getStateFieldBuilder().getBuilder();
@@ -1557,12 +1557,12 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvRuntimeState state = 2;
          */
-        public cmvr.msgs.Agv.AgvRuntimeStateOrBuilder getStateOrBuilder() {
+        public cmvr.msgs.AgvUtils.AgvRuntimeStateOrBuilder getStateOrBuilder() {
           if (stateBuilder_ != null) {
             return stateBuilder_.getMessageOrBuilder();
           } else {
             return state_ == null ?
-                cmvr.msgs.Agv.AgvRuntimeState.getDefaultInstance() : state_;
+                cmvr.msgs.AgvUtils.AgvRuntimeState.getDefaultInstance() : state_;
           }
         }
         /**
@@ -1573,11 +1573,11 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvRuntimeState state = 2;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvRuntimeState, cmvr.msgs.Agv.AgvRuntimeState.Builder, cmvr.msgs.Agv.AgvRuntimeStateOrBuilder> 
+            cmvr.msgs.AgvUtils.AgvRuntimeState, cmvr.msgs.AgvUtils.AgvRuntimeState.Builder, cmvr.msgs.AgvUtils.AgvRuntimeStateOrBuilder> 
             getStateFieldBuilder() {
           if (stateBuilder_ == null) {
             stateBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.msgs.Agv.AgvRuntimeState, cmvr.msgs.Agv.AgvRuntimeState.Builder, cmvr.msgs.Agv.AgvRuntimeStateOrBuilder>(
+                cmvr.msgs.AgvUtils.AgvRuntimeState, cmvr.msgs.AgvUtils.AgvRuntimeState.Builder, cmvr.msgs.AgvUtils.AgvRuntimeStateOrBuilder>(
                     getState(),
                     getParentForChildren(),
                     isClean());
@@ -2770,7 +2770,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvNavigationStatus status = 2;
        * @return The status.
        */
-      cmvr.msgs.Agv.AgvNavigationStatus getStatus();
+      cmvr.msgs.AgvUtils.AgvNavigationStatus getStatus();
       /**
        * 
        * 当前导航任务状态。
@@ -2778,7 +2778,7 @@ public final class AgvCommand {
        *
        * .cmvr.msgs.AgvNavigationStatus status = 2;
        */
-      cmvr.msgs.Agv.AgvNavigationStatusOrBuilder getStatusOrBuilder();
+      cmvr.msgs.AgvUtils.AgvNavigationStatusOrBuilder getStatusOrBuilder();
     }
     /**
      * 
@@ -2863,7 +2863,7 @@ public final class AgvCommand {
       }
 
       public static final int STATUS_FIELD_NUMBER = 2;
-      private cmvr.msgs.Agv.AgvNavigationStatus status_;
+      private cmvr.msgs.AgvUtils.AgvNavigationStatus status_;
       /**
        * 
        * 当前导航任务状态。
@@ -2885,8 +2885,8 @@ public final class AgvCommand {
        * @return The status.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvNavigationStatus getStatus() {
-        return status_ == null ? cmvr.msgs.Agv.AgvNavigationStatus.getDefaultInstance() : status_;
+      public cmvr.msgs.AgvUtils.AgvNavigationStatus getStatus() {
+        return status_ == null ? cmvr.msgs.AgvUtils.AgvNavigationStatus.getDefaultInstance() : status_;
       }
       /**
        * 
@@ -2896,7 +2896,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvNavigationStatus status = 2;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvNavigationStatusOrBuilder getStatusOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvNavigationStatusOrBuilder getStatusOrBuilder() {
         return getStatus();
       }
 
@@ -3426,9 +3426,9 @@ public final class AgvCommand {
           return headerBuilder_;
         }
 
-        private cmvr.msgs.Agv.AgvNavigationStatus status_;
+        private cmvr.msgs.AgvUtils.AgvNavigationStatus status_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvNavigationStatus, cmvr.msgs.Agv.AgvNavigationStatus.Builder, cmvr.msgs.Agv.AgvNavigationStatusOrBuilder> statusBuilder_;
+            cmvr.msgs.AgvUtils.AgvNavigationStatus, cmvr.msgs.AgvUtils.AgvNavigationStatus.Builder, cmvr.msgs.AgvUtils.AgvNavigationStatusOrBuilder> statusBuilder_;
         /**
          * 
          * 当前导航任务状态。
@@ -3448,9 +3448,9 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvNavigationStatus status = 2;
          * @return The status.
          */
-        public cmvr.msgs.Agv.AgvNavigationStatus getStatus() {
+        public cmvr.msgs.AgvUtils.AgvNavigationStatus getStatus() {
           if (statusBuilder_ == null) {
-            return status_ == null ? cmvr.msgs.Agv.AgvNavigationStatus.getDefaultInstance() : status_;
+            return status_ == null ? cmvr.msgs.AgvUtils.AgvNavigationStatus.getDefaultInstance() : status_;
           } else {
             return statusBuilder_.getMessage();
           }
@@ -3462,7 +3462,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvNavigationStatus status = 2;
          */
-        public Builder setStatus(cmvr.msgs.Agv.AgvNavigationStatus value) {
+        public Builder setStatus(cmvr.msgs.AgvUtils.AgvNavigationStatus value) {
           if (statusBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -3483,7 +3483,7 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvNavigationStatus status = 2;
          */
         public Builder setStatus(
-            cmvr.msgs.Agv.AgvNavigationStatus.Builder builderForValue) {
+            cmvr.msgs.AgvUtils.AgvNavigationStatus.Builder builderForValue) {
           if (statusBuilder_ == null) {
             status_ = builderForValue.build();
             onChanged();
@@ -3500,11 +3500,11 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvNavigationStatus status = 2;
          */
-        public Builder mergeStatus(cmvr.msgs.Agv.AgvNavigationStatus value) {
+        public Builder mergeStatus(cmvr.msgs.AgvUtils.AgvNavigationStatus value) {
           if (statusBuilder_ == null) {
             if (status_ != null) {
               status_ =
-                cmvr.msgs.Agv.AgvNavigationStatus.newBuilder(status_).mergeFrom(value).buildPartial();
+                cmvr.msgs.AgvUtils.AgvNavigationStatus.newBuilder(status_).mergeFrom(value).buildPartial();
             } else {
               status_ = value;
             }
@@ -3540,7 +3540,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvNavigationStatus status = 2;
          */
-        public cmvr.msgs.Agv.AgvNavigationStatus.Builder getStatusBuilder() {
+        public cmvr.msgs.AgvUtils.AgvNavigationStatus.Builder getStatusBuilder() {
           
           onChanged();
           return getStatusFieldBuilder().getBuilder();
@@ -3552,12 +3552,12 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvNavigationStatus status = 2;
          */
-        public cmvr.msgs.Agv.AgvNavigationStatusOrBuilder getStatusOrBuilder() {
+        public cmvr.msgs.AgvUtils.AgvNavigationStatusOrBuilder getStatusOrBuilder() {
           if (statusBuilder_ != null) {
             return statusBuilder_.getMessageOrBuilder();
           } else {
             return status_ == null ?
-                cmvr.msgs.Agv.AgvNavigationStatus.getDefaultInstance() : status_;
+                cmvr.msgs.AgvUtils.AgvNavigationStatus.getDefaultInstance() : status_;
           }
         }
         /**
@@ -3568,11 +3568,11 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvNavigationStatus status = 2;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvNavigationStatus, cmvr.msgs.Agv.AgvNavigationStatus.Builder, cmvr.msgs.Agv.AgvNavigationStatusOrBuilder> 
+            cmvr.msgs.AgvUtils.AgvNavigationStatus, cmvr.msgs.AgvUtils.AgvNavigationStatus.Builder, cmvr.msgs.AgvUtils.AgvNavigationStatusOrBuilder> 
             getStatusFieldBuilder() {
           if (statusBuilder_ == null) {
             statusBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.msgs.Agv.AgvNavigationStatus, cmvr.msgs.Agv.AgvNavigationStatus.Builder, cmvr.msgs.Agv.AgvNavigationStatusOrBuilder>(
+                cmvr.msgs.AgvUtils.AgvNavigationStatus, cmvr.msgs.AgvUtils.AgvNavigationStatus.Builder, cmvr.msgs.AgvUtils.AgvNavigationStatusOrBuilder>(
                     getStatus(),
                     getParentForChildren(),
                     isClean());
@@ -4100,7 +4100,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvPose2d pose = 2;
        * @return The pose.
        */
-      cmvr.msgs.Agv.AgvPose2d getPose();
+      cmvr.msgs.AgvUtils.AgvPose2d getPose();
       /**
        * 
        * 目标位姿。x/y 单位：米，theta 单位：弧度。
@@ -4108,11 +4108,11 @@ public final class AgvCommand {
        *
        * .cmvr.msgs.AgvPose2d pose = 2;
        */
-      cmvr.msgs.Agv.AgvPose2dOrBuilder getPoseOrBuilder();
+      cmvr.msgs.AgvUtils.AgvPose2dOrBuilder getPoseOrBuilder();
 
       /**
        * 
-       * 通用运动约束和执行选项。
+       * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
        * 

        *
        * .cmvr.msgs.AgvMotionOptions options = 3;
@@ -4121,21 +4121,21 @@ public final class AgvCommand {
       boolean hasOptions();
       /**
        * 
-       * 通用运动约束和执行选项。
+       * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
        * 

        *
        * .cmvr.msgs.AgvMotionOptions options = 3;
        * @return The options.
        */
-      cmvr.msgs.Agv.AgvMotionOptions getOptions();
+      cmvr.msgs.AgvUtils.AgvMotionOptions getOptions();
       /**
        * 
-       * 通用运动约束和执行选项。
+       * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
        * 

        *
        * .cmvr.msgs.AgvMotionOptions options = 3;
        */
-      cmvr.msgs.Agv.AgvMotionOptionsOrBuilder getOptionsOrBuilder();
+      cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder getOptionsOrBuilder();
 
       /**
        * 
@@ -4154,7 +4154,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
        * @return The adapterParams.
        */
-      cmvr.msgs.Agv.AgvAdapterParams getAdapterParams();
+      cmvr.msgs.AgvUtils.AgvAdapterParams getAdapterParams();
       /**
        * 
        * AGV 适配器扩展参数，用于传递厂商特有选项。
@@ -4162,7 +4162,7 @@ public final class AgvCommand {
        *
        * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
        */
-      cmvr.msgs.Agv.AgvAdapterParamsOrBuilder getAdapterParamsOrBuilder();
+      cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder getAdapterParamsOrBuilder();
     }
     /**
      * 
@@ -4247,7 +4247,7 @@ public final class AgvCommand {
       }
 
       public static final int POSE_FIELD_NUMBER = 2;
-      private cmvr.msgs.Agv.AgvPose2d pose_;
+      private cmvr.msgs.AgvUtils.AgvPose2d pose_;
       /**
        * 
        * 目标位姿。x/y 单位：米，theta 单位：弧度。
@@ -4269,8 +4269,8 @@ public final class AgvCommand {
        * @return The pose.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvPose2d getPose() {
-        return pose_ == null ? cmvr.msgs.Agv.AgvPose2d.getDefaultInstance() : pose_;
+      public cmvr.msgs.AgvUtils.AgvPose2d getPose() {
+        return pose_ == null ? cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance() : pose_;
       }
       /**
        * 
@@ -4280,15 +4280,15 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvPose2d pose = 2;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvPose2dOrBuilder getPoseOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvPose2dOrBuilder getPoseOrBuilder() {
         return getPose();
       }
 
       public static final int OPTIONS_FIELD_NUMBER = 3;
-      private cmvr.msgs.Agv.AgvMotionOptions options_;
+      private cmvr.msgs.AgvUtils.AgvMotionOptions options_;
       /**
        * 
-       * 通用运动约束和执行选项。
+       * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
        * 

        *
        * .cmvr.msgs.AgvMotionOptions options = 3;
@@ -4300,30 +4300,30 @@ public final class AgvCommand {
       }
       /**
        * 
-       * 通用运动约束和执行选项。
+       * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
        * 

        *
        * .cmvr.msgs.AgvMotionOptions options = 3;
        * @return The options.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMotionOptions getOptions() {
-        return options_ == null ? cmvr.msgs.Agv.AgvMotionOptions.getDefaultInstance() : options_;
+      public cmvr.msgs.AgvUtils.AgvMotionOptions getOptions() {
+        return options_ == null ? cmvr.msgs.AgvUtils.AgvMotionOptions.getDefaultInstance() : options_;
       }
       /**
        * 
-       * 通用运动约束和执行选项。
+       * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
        * 

        *
        * .cmvr.msgs.AgvMotionOptions options = 3;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMotionOptionsOrBuilder getOptionsOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder getOptionsOrBuilder() {
         return getOptions();
       }
 
       public static final int ADAPTER_PARAMS_FIELD_NUMBER = 4;
-      private cmvr.msgs.Agv.AgvAdapterParams adapterParams_;
+      private cmvr.msgs.AgvUtils.AgvAdapterParams adapterParams_;
       /**
        * 
        * AGV 适配器扩展参数，用于传递厂商特有选项。
@@ -4345,8 +4345,8 @@ public final class AgvCommand {
        * @return The adapterParams.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvAdapterParams getAdapterParams() {
-        return adapterParams_ == null ? cmvr.msgs.Agv.AgvAdapterParams.getDefaultInstance() : adapterParams_;
+      public cmvr.msgs.AgvUtils.AgvAdapterParams getAdapterParams() {
+        return adapterParams_ == null ? cmvr.msgs.AgvUtils.AgvAdapterParams.getDefaultInstance() : adapterParams_;
       }
       /**
        * 
@@ -4356,7 +4356,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvAdapterParamsOrBuilder getAdapterParamsOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder getAdapterParamsOrBuilder() {
         return getAdapterParams();
       }
 
@@ -4960,9 +4960,9 @@ public final class AgvCommand {
           return headerBuilder_;
         }
 
-        private cmvr.msgs.Agv.AgvPose2d pose_;
+        private cmvr.msgs.AgvUtils.AgvPose2d pose_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvPose2d, cmvr.msgs.Agv.AgvPose2d.Builder, cmvr.msgs.Agv.AgvPose2dOrBuilder> poseBuilder_;
+            cmvr.msgs.AgvUtils.AgvPose2d, cmvr.msgs.AgvUtils.AgvPose2d.Builder, cmvr.msgs.AgvUtils.AgvPose2dOrBuilder> poseBuilder_;
         /**
          * 
          * 目标位姿。x/y 单位：米，theta 单位：弧度。
@@ -4982,9 +4982,9 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvPose2d pose = 2;
          * @return The pose.
          */
-        public cmvr.msgs.Agv.AgvPose2d getPose() {
+        public cmvr.msgs.AgvUtils.AgvPose2d getPose() {
           if (poseBuilder_ == null) {
-            return pose_ == null ? cmvr.msgs.Agv.AgvPose2d.getDefaultInstance() : pose_;
+            return pose_ == null ? cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance() : pose_;
           } else {
             return poseBuilder_.getMessage();
           }
@@ -4996,7 +4996,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvPose2d pose = 2;
          */
-        public Builder setPose(cmvr.msgs.Agv.AgvPose2d value) {
+        public Builder setPose(cmvr.msgs.AgvUtils.AgvPose2d value) {
           if (poseBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -5017,7 +5017,7 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvPose2d pose = 2;
          */
         public Builder setPose(
-            cmvr.msgs.Agv.AgvPose2d.Builder builderForValue) {
+            cmvr.msgs.AgvUtils.AgvPose2d.Builder builderForValue) {
           if (poseBuilder_ == null) {
             pose_ = builderForValue.build();
             onChanged();
@@ -5034,11 +5034,11 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvPose2d pose = 2;
          */
-        public Builder mergePose(cmvr.msgs.Agv.AgvPose2d value) {
+        public Builder mergePose(cmvr.msgs.AgvUtils.AgvPose2d value) {
           if (poseBuilder_ == null) {
             if (pose_ != null) {
               pose_ =
-                cmvr.msgs.Agv.AgvPose2d.newBuilder(pose_).mergeFrom(value).buildPartial();
+                cmvr.msgs.AgvUtils.AgvPose2d.newBuilder(pose_).mergeFrom(value).buildPartial();
             } else {
               pose_ = value;
             }
@@ -5074,7 +5074,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvPose2d pose = 2;
          */
-        public cmvr.msgs.Agv.AgvPose2d.Builder getPoseBuilder() {
+        public cmvr.msgs.AgvUtils.AgvPose2d.Builder getPoseBuilder() {
           
           onChanged();
           return getPoseFieldBuilder().getBuilder();
@@ -5086,12 +5086,12 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvPose2d pose = 2;
          */
-        public cmvr.msgs.Agv.AgvPose2dOrBuilder getPoseOrBuilder() {
+        public cmvr.msgs.AgvUtils.AgvPose2dOrBuilder getPoseOrBuilder() {
           if (poseBuilder_ != null) {
             return poseBuilder_.getMessageOrBuilder();
           } else {
             return pose_ == null ?
-                cmvr.msgs.Agv.AgvPose2d.getDefaultInstance() : pose_;
+                cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance() : pose_;
           }
         }
         /**
@@ -5102,11 +5102,11 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvPose2d pose = 2;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvPose2d, cmvr.msgs.Agv.AgvPose2d.Builder, cmvr.msgs.Agv.AgvPose2dOrBuilder> 
+            cmvr.msgs.AgvUtils.AgvPose2d, cmvr.msgs.AgvUtils.AgvPose2d.Builder, cmvr.msgs.AgvUtils.AgvPose2dOrBuilder> 
             getPoseFieldBuilder() {
           if (poseBuilder_ == null) {
             poseBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.msgs.Agv.AgvPose2d, cmvr.msgs.Agv.AgvPose2d.Builder, cmvr.msgs.Agv.AgvPose2dOrBuilder>(
+                cmvr.msgs.AgvUtils.AgvPose2d, cmvr.msgs.AgvUtils.AgvPose2d.Builder, cmvr.msgs.AgvUtils.AgvPose2dOrBuilder>(
                     getPose(),
                     getParentForChildren(),
                     isClean());
@@ -5115,12 +5115,12 @@ public final class AgvCommand {
           return poseBuilder_;
         }
 
-        private cmvr.msgs.Agv.AgvMotionOptions options_;
+        private cmvr.msgs.AgvUtils.AgvMotionOptions options_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvMotionOptions, cmvr.msgs.Agv.AgvMotionOptions.Builder, cmvr.msgs.Agv.AgvMotionOptionsOrBuilder> optionsBuilder_;
+            cmvr.msgs.AgvUtils.AgvMotionOptions, cmvr.msgs.AgvUtils.AgvMotionOptions.Builder, cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder> optionsBuilder_;
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
@@ -5131,27 +5131,27 @@ public final class AgvCommand {
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          * @return The options.
          */
-        public cmvr.msgs.Agv.AgvMotionOptions getOptions() {
+        public cmvr.msgs.AgvUtils.AgvMotionOptions getOptions() {
           if (optionsBuilder_ == null) {
-            return options_ == null ? cmvr.msgs.Agv.AgvMotionOptions.getDefaultInstance() : options_;
+            return options_ == null ? cmvr.msgs.AgvUtils.AgvMotionOptions.getDefaultInstance() : options_;
           } else {
             return optionsBuilder_.getMessage();
           }
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          */
-        public Builder setOptions(cmvr.msgs.Agv.AgvMotionOptions value) {
+        public Builder setOptions(cmvr.msgs.AgvUtils.AgvMotionOptions value) {
           if (optionsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -5166,13 +5166,13 @@ public final class AgvCommand {
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          */
         public Builder setOptions(
-            cmvr.msgs.Agv.AgvMotionOptions.Builder builderForValue) {
+            cmvr.msgs.AgvUtils.AgvMotionOptions.Builder builderForValue) {
           if (optionsBuilder_ == null) {
             options_ = builderForValue.build();
             onChanged();
@@ -5184,16 +5184,16 @@ public final class AgvCommand {
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          */
-        public Builder mergeOptions(cmvr.msgs.Agv.AgvMotionOptions value) {
+        public Builder mergeOptions(cmvr.msgs.AgvUtils.AgvMotionOptions value) {
           if (optionsBuilder_ == null) {
             if (options_ != null) {
               options_ =
-                cmvr.msgs.Agv.AgvMotionOptions.newBuilder(options_).mergeFrom(value).buildPartial();
+                cmvr.msgs.AgvUtils.AgvMotionOptions.newBuilder(options_).mergeFrom(value).buildPartial();
             } else {
               options_ = value;
             }
@@ -5206,7 +5206,7 @@ public final class AgvCommand {
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
@@ -5224,44 +5224,44 @@ public final class AgvCommand {
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          */
-        public cmvr.msgs.Agv.AgvMotionOptions.Builder getOptionsBuilder() {
+        public cmvr.msgs.AgvUtils.AgvMotionOptions.Builder getOptionsBuilder() {
           
           onChanged();
           return getOptionsFieldBuilder().getBuilder();
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          */
-        public cmvr.msgs.Agv.AgvMotionOptionsOrBuilder getOptionsOrBuilder() {
+        public cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder getOptionsOrBuilder() {
           if (optionsBuilder_ != null) {
             return optionsBuilder_.getMessageOrBuilder();
           } else {
             return options_ == null ?
-                cmvr.msgs.Agv.AgvMotionOptions.getDefaultInstance() : options_;
+                cmvr.msgs.AgvUtils.AgvMotionOptions.getDefaultInstance() : options_;
           }
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvMotionOptions, cmvr.msgs.Agv.AgvMotionOptions.Builder, cmvr.msgs.Agv.AgvMotionOptionsOrBuilder> 
+            cmvr.msgs.AgvUtils.AgvMotionOptions, cmvr.msgs.AgvUtils.AgvMotionOptions.Builder, cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder> 
             getOptionsFieldBuilder() {
           if (optionsBuilder_ == null) {
             optionsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.msgs.Agv.AgvMotionOptions, cmvr.msgs.Agv.AgvMotionOptions.Builder, cmvr.msgs.Agv.AgvMotionOptionsOrBuilder>(
+                cmvr.msgs.AgvUtils.AgvMotionOptions, cmvr.msgs.AgvUtils.AgvMotionOptions.Builder, cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder>(
                     getOptions(),
                     getParentForChildren(),
                     isClean());
@@ -5270,9 +5270,9 @@ public final class AgvCommand {
           return optionsBuilder_;
         }
 
-        private cmvr.msgs.Agv.AgvAdapterParams adapterParams_;
+        private cmvr.msgs.AgvUtils.AgvAdapterParams adapterParams_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvAdapterParams, cmvr.msgs.Agv.AgvAdapterParams.Builder, cmvr.msgs.Agv.AgvAdapterParamsOrBuilder> adapterParamsBuilder_;
+            cmvr.msgs.AgvUtils.AgvAdapterParams, cmvr.msgs.AgvUtils.AgvAdapterParams.Builder, cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder> adapterParamsBuilder_;
         /**
          * 
          * AGV 适配器扩展参数，用于传递厂商特有选项。
@@ -5292,9 +5292,9 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          * @return The adapterParams.
          */
-        public cmvr.msgs.Agv.AgvAdapterParams getAdapterParams() {
+        public cmvr.msgs.AgvUtils.AgvAdapterParams getAdapterParams() {
           if (adapterParamsBuilder_ == null) {
-            return adapterParams_ == null ? cmvr.msgs.Agv.AgvAdapterParams.getDefaultInstance() : adapterParams_;
+            return adapterParams_ == null ? cmvr.msgs.AgvUtils.AgvAdapterParams.getDefaultInstance() : adapterParams_;
           } else {
             return adapterParamsBuilder_.getMessage();
           }
@@ -5306,7 +5306,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          */
-        public Builder setAdapterParams(cmvr.msgs.Agv.AgvAdapterParams value) {
+        public Builder setAdapterParams(cmvr.msgs.AgvUtils.AgvAdapterParams value) {
           if (adapterParamsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -5327,7 +5327,7 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          */
         public Builder setAdapterParams(
-            cmvr.msgs.Agv.AgvAdapterParams.Builder builderForValue) {
+            cmvr.msgs.AgvUtils.AgvAdapterParams.Builder builderForValue) {
           if (adapterParamsBuilder_ == null) {
             adapterParams_ = builderForValue.build();
             onChanged();
@@ -5344,11 +5344,11 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          */
-        public Builder mergeAdapterParams(cmvr.msgs.Agv.AgvAdapterParams value) {
+        public Builder mergeAdapterParams(cmvr.msgs.AgvUtils.AgvAdapterParams value) {
           if (adapterParamsBuilder_ == null) {
             if (adapterParams_ != null) {
               adapterParams_ =
-                cmvr.msgs.Agv.AgvAdapterParams.newBuilder(adapterParams_).mergeFrom(value).buildPartial();
+                cmvr.msgs.AgvUtils.AgvAdapterParams.newBuilder(adapterParams_).mergeFrom(value).buildPartial();
             } else {
               adapterParams_ = value;
             }
@@ -5384,7 +5384,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          */
-        public cmvr.msgs.Agv.AgvAdapterParams.Builder getAdapterParamsBuilder() {
+        public cmvr.msgs.AgvUtils.AgvAdapterParams.Builder getAdapterParamsBuilder() {
           
           onChanged();
           return getAdapterParamsFieldBuilder().getBuilder();
@@ -5396,12 +5396,12 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          */
-        public cmvr.msgs.Agv.AgvAdapterParamsOrBuilder getAdapterParamsOrBuilder() {
+        public cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder getAdapterParamsOrBuilder() {
           if (adapterParamsBuilder_ != null) {
             return adapterParamsBuilder_.getMessageOrBuilder();
           } else {
             return adapterParams_ == null ?
-                cmvr.msgs.Agv.AgvAdapterParams.getDefaultInstance() : adapterParams_;
+                cmvr.msgs.AgvUtils.AgvAdapterParams.getDefaultInstance() : adapterParams_;
           }
         }
         /**
@@ -5412,11 +5412,11 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvAdapterParams, cmvr.msgs.Agv.AgvAdapterParams.Builder, cmvr.msgs.Agv.AgvAdapterParamsOrBuilder> 
+            cmvr.msgs.AgvUtils.AgvAdapterParams, cmvr.msgs.AgvUtils.AgvAdapterParams.Builder, cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder> 
             getAdapterParamsFieldBuilder() {
           if (adapterParamsBuilder_ == null) {
             adapterParamsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.msgs.Agv.AgvAdapterParams, cmvr.msgs.Agv.AgvAdapterParams.Builder, cmvr.msgs.Agv.AgvAdapterParamsOrBuilder>(
+                cmvr.msgs.AgvUtils.AgvAdapterParams, cmvr.msgs.AgvUtils.AgvAdapterParams.Builder, cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder>(
                     getAdapterParams(),
                     getParentForChildren(),
                     isClean());
@@ -6614,7 +6614,7 @@ public final class AgvCommand {
 
       /**
        * 
-       * 通用运动约束和执行选项。
+       * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
        * 

        *
        * .cmvr.msgs.AgvMotionOptions options = 3;
@@ -6623,21 +6623,21 @@ public final class AgvCommand {
       boolean hasOptions();
       /**
        * 
-       * 通用运动约束和执行选项。
+       * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
        * 

        *
        * .cmvr.msgs.AgvMotionOptions options = 3;
        * @return The options.
        */
-      cmvr.msgs.Agv.AgvMotionOptions getOptions();
+      cmvr.msgs.AgvUtils.AgvMotionOptions getOptions();
       /**
        * 
-       * 通用运动约束和执行选项。
+       * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
        * 

        *
        * .cmvr.msgs.AgvMotionOptions options = 3;
        */
-      cmvr.msgs.Agv.AgvMotionOptionsOrBuilder getOptionsOrBuilder();
+      cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder getOptionsOrBuilder();
 
       /**
        * 
@@ -6656,7 +6656,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
        * @return The adapterParams.
        */
-      cmvr.msgs.Agv.AgvAdapterParams getAdapterParams();
+      cmvr.msgs.AgvUtils.AgvAdapterParams getAdapterParams();
       /**
        * 
        * AGV 适配器扩展参数，用于传递厂商特有选项。
@@ -6664,7 +6664,7 @@ public final class AgvCommand {
        *
        * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
        */
-      cmvr.msgs.Agv.AgvAdapterParamsOrBuilder getAdapterParamsOrBuilder();
+      cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder getAdapterParamsOrBuilder();
     }
     /**
      * 
@@ -6796,10 +6796,10 @@ public final class AgvCommand {
       }
 
       public static final int OPTIONS_FIELD_NUMBER = 3;
-      private cmvr.msgs.Agv.AgvMotionOptions options_;
+      private cmvr.msgs.AgvUtils.AgvMotionOptions options_;
       /**
        * 
-       * 通用运动约束和执行选项。
+       * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
        * 

        *
        * .cmvr.msgs.AgvMotionOptions options = 3;
@@ -6811,30 +6811,30 @@ public final class AgvCommand {
       }
       /**
        * 
-       * 通用运动约束和执行选项。
+       * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
        * 

        *
        * .cmvr.msgs.AgvMotionOptions options = 3;
        * @return The options.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMotionOptions getOptions() {
-        return options_ == null ? cmvr.msgs.Agv.AgvMotionOptions.getDefaultInstance() : options_;
+      public cmvr.msgs.AgvUtils.AgvMotionOptions getOptions() {
+        return options_ == null ? cmvr.msgs.AgvUtils.AgvMotionOptions.getDefaultInstance() : options_;
       }
       /**
        * 
-       * 通用运动约束和执行选项。
+       * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
        * 

        *
        * .cmvr.msgs.AgvMotionOptions options = 3;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMotionOptionsOrBuilder getOptionsOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder getOptionsOrBuilder() {
         return getOptions();
       }
 
       public static final int ADAPTER_PARAMS_FIELD_NUMBER = 4;
-      private cmvr.msgs.Agv.AgvAdapterParams adapterParams_;
+      private cmvr.msgs.AgvUtils.AgvAdapterParams adapterParams_;
       /**
        * 
        * AGV 适配器扩展参数，用于传递厂商特有选项。
@@ -6856,8 +6856,8 @@ public final class AgvCommand {
        * @return The adapterParams.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvAdapterParams getAdapterParams() {
-        return adapterParams_ == null ? cmvr.msgs.Agv.AgvAdapterParams.getDefaultInstance() : adapterParams_;
+      public cmvr.msgs.AgvUtils.AgvAdapterParams getAdapterParams() {
+        return adapterParams_ == null ? cmvr.msgs.AgvUtils.AgvAdapterParams.getDefaultInstance() : adapterParams_;
       }
       /**
        * 
@@ -6867,7 +6867,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvAdapterParamsOrBuilder getAdapterParamsOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder getAdapterParamsOrBuilder() {
         return getAdapterParams();
       }
 
@@ -7552,12 +7552,12 @@ public final class AgvCommand {
           return this;
         }
 
-        private cmvr.msgs.Agv.AgvMotionOptions options_;
+        private cmvr.msgs.AgvUtils.AgvMotionOptions options_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvMotionOptions, cmvr.msgs.Agv.AgvMotionOptions.Builder, cmvr.msgs.Agv.AgvMotionOptionsOrBuilder> optionsBuilder_;
+            cmvr.msgs.AgvUtils.AgvMotionOptions, cmvr.msgs.AgvUtils.AgvMotionOptions.Builder, cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder> optionsBuilder_;
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
@@ -7568,27 +7568,27 @@ public final class AgvCommand {
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          * @return The options.
          */
-        public cmvr.msgs.Agv.AgvMotionOptions getOptions() {
+        public cmvr.msgs.AgvUtils.AgvMotionOptions getOptions() {
           if (optionsBuilder_ == null) {
-            return options_ == null ? cmvr.msgs.Agv.AgvMotionOptions.getDefaultInstance() : options_;
+            return options_ == null ? cmvr.msgs.AgvUtils.AgvMotionOptions.getDefaultInstance() : options_;
           } else {
             return optionsBuilder_.getMessage();
           }
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          */
-        public Builder setOptions(cmvr.msgs.Agv.AgvMotionOptions value) {
+        public Builder setOptions(cmvr.msgs.AgvUtils.AgvMotionOptions value) {
           if (optionsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -7603,13 +7603,13 @@ public final class AgvCommand {
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          */
         public Builder setOptions(
-            cmvr.msgs.Agv.AgvMotionOptions.Builder builderForValue) {
+            cmvr.msgs.AgvUtils.AgvMotionOptions.Builder builderForValue) {
           if (optionsBuilder_ == null) {
             options_ = builderForValue.build();
             onChanged();
@@ -7621,16 +7621,16 @@ public final class AgvCommand {
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          */
-        public Builder mergeOptions(cmvr.msgs.Agv.AgvMotionOptions value) {
+        public Builder mergeOptions(cmvr.msgs.AgvUtils.AgvMotionOptions value) {
           if (optionsBuilder_ == null) {
             if (options_ != null) {
               options_ =
-                cmvr.msgs.Agv.AgvMotionOptions.newBuilder(options_).mergeFrom(value).buildPartial();
+                cmvr.msgs.AgvUtils.AgvMotionOptions.newBuilder(options_).mergeFrom(value).buildPartial();
             } else {
               options_ = value;
             }
@@ -7643,7 +7643,7 @@ public final class AgvCommand {
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
@@ -7661,44 +7661,44 @@ public final class AgvCommand {
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          */
-        public cmvr.msgs.Agv.AgvMotionOptions.Builder getOptionsBuilder() {
+        public cmvr.msgs.AgvUtils.AgvMotionOptions.Builder getOptionsBuilder() {
           
           onChanged();
           return getOptionsFieldBuilder().getBuilder();
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          */
-        public cmvr.msgs.Agv.AgvMotionOptionsOrBuilder getOptionsOrBuilder() {
+        public cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder getOptionsOrBuilder() {
           if (optionsBuilder_ != null) {
             return optionsBuilder_.getMessageOrBuilder();
           } else {
             return options_ == null ?
-                cmvr.msgs.Agv.AgvMotionOptions.getDefaultInstance() : options_;
+                cmvr.msgs.AgvUtils.AgvMotionOptions.getDefaultInstance() : options_;
           }
         }
         /**
          * 
-         * 通用运动约束和执行选项。
+         * 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
          * 

          *
          * .cmvr.msgs.AgvMotionOptions options = 3;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvMotionOptions, cmvr.msgs.Agv.AgvMotionOptions.Builder, cmvr.msgs.Agv.AgvMotionOptionsOrBuilder> 
+            cmvr.msgs.AgvUtils.AgvMotionOptions, cmvr.msgs.AgvUtils.AgvMotionOptions.Builder, cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder> 
             getOptionsFieldBuilder() {
           if (optionsBuilder_ == null) {
             optionsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.msgs.Agv.AgvMotionOptions, cmvr.msgs.Agv.AgvMotionOptions.Builder, cmvr.msgs.Agv.AgvMotionOptionsOrBuilder>(
+                cmvr.msgs.AgvUtils.AgvMotionOptions, cmvr.msgs.AgvUtils.AgvMotionOptions.Builder, cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder>(
                     getOptions(),
                     getParentForChildren(),
                     isClean());
@@ -7707,9 +7707,9 @@ public final class AgvCommand {
           return optionsBuilder_;
         }
 
-        private cmvr.msgs.Agv.AgvAdapterParams adapterParams_;
+        private cmvr.msgs.AgvUtils.AgvAdapterParams adapterParams_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvAdapterParams, cmvr.msgs.Agv.AgvAdapterParams.Builder, cmvr.msgs.Agv.AgvAdapterParamsOrBuilder> adapterParamsBuilder_;
+            cmvr.msgs.AgvUtils.AgvAdapterParams, cmvr.msgs.AgvUtils.AgvAdapterParams.Builder, cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder> adapterParamsBuilder_;
         /**
          * 
          * AGV 适配器扩展参数，用于传递厂商特有选项。
@@ -7729,9 +7729,9 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          * @return The adapterParams.
          */
-        public cmvr.msgs.Agv.AgvAdapterParams getAdapterParams() {
+        public cmvr.msgs.AgvUtils.AgvAdapterParams getAdapterParams() {
           if (adapterParamsBuilder_ == null) {
-            return adapterParams_ == null ? cmvr.msgs.Agv.AgvAdapterParams.getDefaultInstance() : adapterParams_;
+            return adapterParams_ == null ? cmvr.msgs.AgvUtils.AgvAdapterParams.getDefaultInstance() : adapterParams_;
           } else {
             return adapterParamsBuilder_.getMessage();
           }
@@ -7743,7 +7743,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          */
-        public Builder setAdapterParams(cmvr.msgs.Agv.AgvAdapterParams value) {
+        public Builder setAdapterParams(cmvr.msgs.AgvUtils.AgvAdapterParams value) {
           if (adapterParamsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -7764,7 +7764,7 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          */
         public Builder setAdapterParams(
-            cmvr.msgs.Agv.AgvAdapterParams.Builder builderForValue) {
+            cmvr.msgs.AgvUtils.AgvAdapterParams.Builder builderForValue) {
           if (adapterParamsBuilder_ == null) {
             adapterParams_ = builderForValue.build();
             onChanged();
@@ -7781,11 +7781,11 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          */
-        public Builder mergeAdapterParams(cmvr.msgs.Agv.AgvAdapterParams value) {
+        public Builder mergeAdapterParams(cmvr.msgs.AgvUtils.AgvAdapterParams value) {
           if (adapterParamsBuilder_ == null) {
             if (adapterParams_ != null) {
               adapterParams_ =
-                cmvr.msgs.Agv.AgvAdapterParams.newBuilder(adapterParams_).mergeFrom(value).buildPartial();
+                cmvr.msgs.AgvUtils.AgvAdapterParams.newBuilder(adapterParams_).mergeFrom(value).buildPartial();
             } else {
               adapterParams_ = value;
             }
@@ -7821,7 +7821,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          */
-        public cmvr.msgs.Agv.AgvAdapterParams.Builder getAdapterParamsBuilder() {
+        public cmvr.msgs.AgvUtils.AgvAdapterParams.Builder getAdapterParamsBuilder() {
           
           onChanged();
           return getAdapterParamsFieldBuilder().getBuilder();
@@ -7833,12 +7833,12 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          */
-        public cmvr.msgs.Agv.AgvAdapterParamsOrBuilder getAdapterParamsOrBuilder() {
+        public cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder getAdapterParamsOrBuilder() {
           if (adapterParamsBuilder_ != null) {
             return adapterParamsBuilder_.getMessageOrBuilder();
           } else {
             return adapterParams_ == null ?
-                cmvr.msgs.Agv.AgvAdapterParams.getDefaultInstance() : adapterParams_;
+                cmvr.msgs.AgvUtils.AgvAdapterParams.getDefaultInstance() : adapterParams_;
           }
         }
         /**
@@ -7849,11 +7849,11 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvAdapterParams adapter_params = 4;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvAdapterParams, cmvr.msgs.Agv.AgvAdapterParams.Builder, cmvr.msgs.Agv.AgvAdapterParamsOrBuilder> 
+            cmvr.msgs.AgvUtils.AgvAdapterParams, cmvr.msgs.AgvUtils.AgvAdapterParams.Builder, cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder> 
             getAdapterParamsFieldBuilder() {
           if (adapterParamsBuilder_ == null) {
             adapterParamsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.msgs.Agv.AgvAdapterParams, cmvr.msgs.Agv.AgvAdapterParams.Builder, cmvr.msgs.Agv.AgvAdapterParamsOrBuilder>(
+                cmvr.msgs.AgvUtils.AgvAdapterParams, cmvr.msgs.AgvUtils.AgvAdapterParams.Builder, cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder>(
                     getAdapterParams(),
                     getParentForChildren(),
                     isClean());
@@ -9036,7 +9036,7 @@ public final class AgvCommand {
        *
        * repeated .cmvr.msgs.AgvPathSegment path = 2;
        */
-      java.util.List 
+      java.util.List 
           getPathList();
       /**
        * 
@@ -9045,7 +9045,7 @@ public final class AgvCommand {
        *
        * repeated .cmvr.msgs.AgvPathSegment path = 2;
        */
-      cmvr.msgs.Agv.AgvPathSegment getPath(int index);
+      cmvr.msgs.AgvUtils.AgvPathSegment getPath(int index);
       /**
        * 
        * 路径段列表。每段包含起点站点 id 和终点站点 id。
@@ -9061,7 +9061,7 @@ public final class AgvCommand {
        *
        * repeated .cmvr.msgs.AgvPathSegment path = 2;
        */
-      java.util.List 
+      java.util.List 
           getPathOrBuilderList();
       /**
        * 
@@ -9070,8 +9070,35 @@ public final class AgvCommand {
        *
        * repeated .cmvr.msgs.AgvPathSegment path = 2;
        */
-      cmvr.msgs.Agv.AgvPathSegmentOrBuilder getPathOrBuilder(
+      cmvr.msgs.AgvUtils.AgvPathSegmentOrBuilder getPathOrBuilder(
           int index);
+
+      /**
+       * 
+       * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+       * 

+       *
+       * .cmvr.msgs.AgvMotionOptions options = 3;
+       * @return Whether the options field is set.
+       */
+      boolean hasOptions();
+      /**
+       * 
+       * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+       * 

+       *
+       * .cmvr.msgs.AgvMotionOptions options = 3;
+       * @return The options.
+       */
+      cmvr.msgs.AgvUtils.AgvMotionOptions getOptions();
+      /**
+       * 
+       * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+       * 

+       *
+       * .cmvr.msgs.AgvMotionOptions options = 3;
+       */
+      cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder getOptionsOrBuilder();
     }
     /**
      * 
@@ -9157,7 +9184,7 @@ public final class AgvCommand {
       }
 
       public static final int PATH_FIELD_NUMBER = 2;
-      private java.util.List path_;
+      private java.util.List path_;
       /**
        * 
        * 路径段列表。每段包含起点站点 id 和终点站点 id。
@@ -9166,7 +9193,7 @@ public final class AgvCommand {
        * repeated .cmvr.msgs.AgvPathSegment path = 2;
        */
       @java.lang.Override
-      public java.util.List getPathList() {
+      public java.util.List getPathList() {
         return path_;
       }
       /**
@@ -9177,7 +9204,7 @@ public final class AgvCommand {
        * repeated .cmvr.msgs.AgvPathSegment path = 2;
        */
       @java.lang.Override
-      public java.util.List 
+      public java.util.List 
           getPathOrBuilderList() {
         return path_;
       }
@@ -9200,7 +9227,7 @@ public final class AgvCommand {
        * repeated .cmvr.msgs.AgvPathSegment path = 2;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvPathSegment getPath(int index) {
+      public cmvr.msgs.AgvUtils.AgvPathSegment getPath(int index) {
         return path_.get(index);
       }
       /**
@@ -9211,11 +9238,49 @@ public final class AgvCommand {
        * repeated .cmvr.msgs.AgvPathSegment path = 2;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvPathSegmentOrBuilder getPathOrBuilder(
+      public cmvr.msgs.AgvUtils.AgvPathSegmentOrBuilder getPathOrBuilder(
           int index) {
         return path_.get(index);
       }
 
+      public static final int OPTIONS_FIELD_NUMBER = 3;
+      private cmvr.msgs.AgvUtils.AgvMotionOptions options_;
+      /**
+       * 
+       * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+       * 

+       *
+       * .cmvr.msgs.AgvMotionOptions options = 3;
+       * @return Whether the options field is set.
+       */
+      @java.lang.Override
+      public boolean hasOptions() {
+        return options_ != null;
+      }
+      /**
+       * 
+       * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+       * 

+       *
+       * .cmvr.msgs.AgvMotionOptions options = 3;
+       * @return The options.
+       */
+      @java.lang.Override
+      public cmvr.msgs.AgvUtils.AgvMotionOptions getOptions() {
+        return options_ == null ? cmvr.msgs.AgvUtils.AgvMotionOptions.getDefaultInstance() : options_;
+      }
+      /**
+       * 
+       * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+       * 

+       *
+       * .cmvr.msgs.AgvMotionOptions options = 3;
+       */
+      @java.lang.Override
+      public cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder getOptionsOrBuilder() {
+        return getOptions();
+      }
+
       private byte memoizedIsInitialized = -1;
       @java.lang.Override
       public final boolean isInitialized() {
@@ -9236,6 +9301,9 @@ public final class AgvCommand {
         for (int i = 0; i < path_.size(); i++) {
           output.writeMessage(2, path_.get(i));
         }
+        if (options_ != null) {
+          output.writeMessage(3, getOptions());
+        }
         getUnknownFields().writeTo(output);
       }
 
@@ -9253,6 +9321,10 @@ public final class AgvCommand {
           size += com.google.protobuf.CodedOutputStream
             .computeMessageSize(2, path_.get(i));
         }
+        if (options_ != null) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(3, getOptions());
+        }
         size += getUnknownFields().getSerializedSize();
         memoizedSize = size;
         return size;
@@ -9275,6 +9347,11 @@ public final class AgvCommand {
         }
         if (!getPathList()
             .equals(other.getPathList())) return false;
+        if (hasOptions() != other.hasOptions()) return false;
+        if (hasOptions()) {
+          if (!getOptions()
+              .equals(other.getOptions())) return false;
+        }
         if (!getUnknownFields().equals(other.getUnknownFields())) return false;
         return true;
       }
@@ -9294,6 +9371,10 @@ public final class AgvCommand {
           hash = (37 * hash) + PATH_FIELD_NUMBER;
           hash = (53 * hash) + getPathList().hashCode();
         }
+        if (hasOptions()) {
+          hash = (37 * hash) + OPTIONS_FIELD_NUMBER;
+          hash = (53 * hash) + getOptions().hashCode();
+        }
         hash = (29 * hash) + getUnknownFields().hashCode();
         memoizedHashCode = hash;
         return hash;
@@ -9439,6 +9520,12 @@ public final class AgvCommand {
             pathBuilder_.clear();
           }
           bitField0_ = (bitField0_ & ~0x00000001);
+          if (optionsBuilder_ == null) {
+            options_ = null;
+          } else {
+            options_ = null;
+            optionsBuilder_ = null;
+          }
           return this;
         }
 
@@ -9480,6 +9567,11 @@ public final class AgvCommand {
           } else {
             result.path_ = pathBuilder_.build();
           }
+          if (optionsBuilder_ == null) {
+            result.options_ = options_;
+          } else {
+            result.options_ = optionsBuilder_.build();
+          }
           onBuilt();
           return result;
         }
@@ -9557,6 +9649,9 @@ public final class AgvCommand {
               }
             }
           }
+          if (other.hasOptions()) {
+            mergeOptions(other.getOptions());
+          }
           this.mergeUnknownFields(other.getUnknownFields());
           onChanged();
           return this;
@@ -9591,9 +9686,9 @@ public final class AgvCommand {
                   break;
                 } // case 10
                 case 18: {
-                  cmvr.msgs.Agv.AgvPathSegment m =
+                  cmvr.msgs.AgvUtils.AgvPathSegment m =
                       input.readMessage(
-                          cmvr.msgs.Agv.AgvPathSegment.parser(),
+                          cmvr.msgs.AgvUtils.AgvPathSegment.parser(),
                           extensionRegistry);
                   if (pathBuilder_ == null) {
                     ensurePathIsMutable();
@@ -9603,6 +9698,13 @@ public final class AgvCommand {
                   }
                   break;
                 } // case 18
+                case 26: {
+                  input.readMessage(
+                      getOptionsFieldBuilder().getBuilder(),
+                      extensionRegistry);
+
+                  break;
+                } // case 26
                 default: {
                   if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                     done = true; // was an endgroup tag
@@ -9775,17 +9877,17 @@ public final class AgvCommand {
           return headerBuilder_;
         }
 
-        private java.util.List path_ =
+        private java.util.List path_ =
           java.util.Collections.emptyList();
         private void ensurePathIsMutable() {
           if (!((bitField0_ & 0x00000001) != 0)) {
-            path_ = new java.util.ArrayList(path_);
+            path_ = new java.util.ArrayList(path_);
             bitField0_ |= 0x00000001;
            }
         }
 
         private com.google.protobuf.RepeatedFieldBuilderV3<
-            cmvr.msgs.Agv.AgvPathSegment, cmvr.msgs.Agv.AgvPathSegment.Builder, cmvr.msgs.Agv.AgvPathSegmentOrBuilder> pathBuilder_;
+            cmvr.msgs.AgvUtils.AgvPathSegment, cmvr.msgs.AgvUtils.AgvPathSegment.Builder, cmvr.msgs.AgvUtils.AgvPathSegmentOrBuilder> pathBuilder_;
 
         /**
          * 
@@ -9794,7 +9896,7 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
-        public java.util.List getPathList() {
+        public java.util.List getPathList() {
           if (pathBuilder_ == null) {
             return java.util.Collections.unmodifiableList(path_);
           } else {
@@ -9822,7 +9924,7 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
-        public cmvr.msgs.Agv.AgvPathSegment getPath(int index) {
+        public cmvr.msgs.AgvUtils.AgvPathSegment getPath(int index) {
           if (pathBuilder_ == null) {
             return path_.get(index);
           } else {
@@ -9837,7 +9939,7 @@ public final class AgvCommand {
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
         public Builder setPath(
-            int index, cmvr.msgs.Agv.AgvPathSegment value) {
+            int index, cmvr.msgs.AgvUtils.AgvPathSegment value) {
           if (pathBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -9858,7 +9960,7 @@ public final class AgvCommand {
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
         public Builder setPath(
-            int index, cmvr.msgs.Agv.AgvPathSegment.Builder builderForValue) {
+            int index, cmvr.msgs.AgvUtils.AgvPathSegment.Builder builderForValue) {
           if (pathBuilder_ == null) {
             ensurePathIsMutable();
             path_.set(index, builderForValue.build());
@@ -9875,7 +9977,7 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
-        public Builder addPath(cmvr.msgs.Agv.AgvPathSegment value) {
+        public Builder addPath(cmvr.msgs.AgvUtils.AgvPathSegment value) {
           if (pathBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -9896,7 +9998,7 @@ public final class AgvCommand {
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
         public Builder addPath(
-            int index, cmvr.msgs.Agv.AgvPathSegment value) {
+            int index, cmvr.msgs.AgvUtils.AgvPathSegment value) {
           if (pathBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -9917,7 +10019,7 @@ public final class AgvCommand {
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
         public Builder addPath(
-            cmvr.msgs.Agv.AgvPathSegment.Builder builderForValue) {
+            cmvr.msgs.AgvUtils.AgvPathSegment.Builder builderForValue) {
           if (pathBuilder_ == null) {
             ensurePathIsMutable();
             path_.add(builderForValue.build());
@@ -9935,7 +10037,7 @@ public final class AgvCommand {
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
         public Builder addPath(
-            int index, cmvr.msgs.Agv.AgvPathSegment.Builder builderForValue) {
+            int index, cmvr.msgs.AgvUtils.AgvPathSegment.Builder builderForValue) {
           if (pathBuilder_ == null) {
             ensurePathIsMutable();
             path_.add(index, builderForValue.build());
@@ -9953,7 +10055,7 @@ public final class AgvCommand {
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
         public Builder addAllPath(
-            java.lang.Iterable values) {
+            java.lang.Iterable values) {
           if (pathBuilder_ == null) {
             ensurePathIsMutable();
             com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -10005,7 +10107,7 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
-        public cmvr.msgs.Agv.AgvPathSegment.Builder getPathBuilder(
+        public cmvr.msgs.AgvUtils.AgvPathSegment.Builder getPathBuilder(
             int index) {
           return getPathFieldBuilder().getBuilder(index);
         }
@@ -10016,7 +10118,7 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
-        public cmvr.msgs.Agv.AgvPathSegmentOrBuilder getPathOrBuilder(
+        public cmvr.msgs.AgvUtils.AgvPathSegmentOrBuilder getPathOrBuilder(
             int index) {
           if (pathBuilder_ == null) {
             return path_.get(index);  } else {
@@ -10030,7 +10132,7 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
-        public java.util.List 
+        public java.util.List 
              getPathOrBuilderList() {
           if (pathBuilder_ != null) {
             return pathBuilder_.getMessageOrBuilderList();
@@ -10045,9 +10147,9 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
-        public cmvr.msgs.Agv.AgvPathSegment.Builder addPathBuilder() {
+        public cmvr.msgs.AgvUtils.AgvPathSegment.Builder addPathBuilder() {
           return getPathFieldBuilder().addBuilder(
-              cmvr.msgs.Agv.AgvPathSegment.getDefaultInstance());
+              cmvr.msgs.AgvUtils.AgvPathSegment.getDefaultInstance());
         }
         /**
          * 
@@ -10056,10 +10158,10 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
-        public cmvr.msgs.Agv.AgvPathSegment.Builder addPathBuilder(
+        public cmvr.msgs.AgvUtils.AgvPathSegment.Builder addPathBuilder(
             int index) {
           return getPathFieldBuilder().addBuilder(
-              index, cmvr.msgs.Agv.AgvPathSegment.getDefaultInstance());
+              index, cmvr.msgs.AgvUtils.AgvPathSegment.getDefaultInstance());
         }
         /**
          * 
@@ -10068,16 +10170,16 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvPathSegment path = 2;
          */
-        public java.util.List 
+        public java.util.List 
              getPathBuilderList() {
           return getPathFieldBuilder().getBuilderList();
         }
         private com.google.protobuf.RepeatedFieldBuilderV3<
-            cmvr.msgs.Agv.AgvPathSegment, cmvr.msgs.Agv.AgvPathSegment.Builder, cmvr.msgs.Agv.AgvPathSegmentOrBuilder> 
+            cmvr.msgs.AgvUtils.AgvPathSegment, cmvr.msgs.AgvUtils.AgvPathSegment.Builder, cmvr.msgs.AgvUtils.AgvPathSegmentOrBuilder> 
             getPathFieldBuilder() {
           if (pathBuilder_ == null) {
             pathBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-                cmvr.msgs.Agv.AgvPathSegment, cmvr.msgs.Agv.AgvPathSegment.Builder, cmvr.msgs.Agv.AgvPathSegmentOrBuilder>(
+                cmvr.msgs.AgvUtils.AgvPathSegment, cmvr.msgs.AgvUtils.AgvPathSegment.Builder, cmvr.msgs.AgvUtils.AgvPathSegmentOrBuilder>(
                     path_,
                     ((bitField0_ & 0x00000001) != 0),
                     getParentForChildren(),
@@ -10086,6 +10188,161 @@ public final class AgvCommand {
           }
           return pathBuilder_;
         }
+
+        private cmvr.msgs.AgvUtils.AgvMotionOptions options_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.msgs.AgvUtils.AgvMotionOptions, cmvr.msgs.AgvUtils.AgvMotionOptions.Builder, cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder> optionsBuilder_;
+        /**
+         * 
+         * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+         * 

+         *
+         * .cmvr.msgs.AgvMotionOptions options = 3;
+         * @return Whether the options field is set.
+         */
+        public boolean hasOptions() {
+          return optionsBuilder_ != null || options_ != null;
+        }
+        /**
+         * 
+         * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+         * 

+         *
+         * .cmvr.msgs.AgvMotionOptions options = 3;
+         * @return The options.
+         */
+        public cmvr.msgs.AgvUtils.AgvMotionOptions getOptions() {
+          if (optionsBuilder_ == null) {
+            return options_ == null ? cmvr.msgs.AgvUtils.AgvMotionOptions.getDefaultInstance() : options_;
+          } else {
+            return optionsBuilder_.getMessage();
+          }
+        }
+        /**
+         * 
+         * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+         * 

+         *
+         * .cmvr.msgs.AgvMotionOptions options = 3;
+         */
+        public Builder setOptions(cmvr.msgs.AgvUtils.AgvMotionOptions value) {
+          if (optionsBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            options_ = value;
+            onChanged();
+          } else {
+            optionsBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * 
+         * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+         * 

+         *
+         * .cmvr.msgs.AgvMotionOptions options = 3;
+         */
+        public Builder setOptions(
+            cmvr.msgs.AgvUtils.AgvMotionOptions.Builder builderForValue) {
+          if (optionsBuilder_ == null) {
+            options_ = builderForValue.build();
+            onChanged();
+          } else {
+            optionsBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * 
+         * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+         * 

+         *
+         * .cmvr.msgs.AgvMotionOptions options = 3;
+         */
+        public Builder mergeOptions(cmvr.msgs.AgvUtils.AgvMotionOptions value) {
+          if (optionsBuilder_ == null) {
+            if (options_ != null) {
+              options_ =
+                cmvr.msgs.AgvUtils.AgvMotionOptions.newBuilder(options_).mergeFrom(value).buildPartial();
+            } else {
+              options_ = value;
+            }
+            onChanged();
+          } else {
+            optionsBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * 
+         * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+         * 

+         *
+         * .cmvr.msgs.AgvMotionOptions options = 3;
+         */
+        public Builder clearOptions() {
+          if (optionsBuilder_ == null) {
+            options_ = null;
+            onChanged();
+          } else {
+            options_ = null;
+            optionsBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * 
+         * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+         * 

+         *
+         * .cmvr.msgs.AgvMotionOptions options = 3;
+         */
+        public cmvr.msgs.AgvUtils.AgvMotionOptions.Builder getOptionsBuilder() {
+          
+          onChanged();
+          return getOptionsFieldBuilder().getBuilder();
+        }
+        /**
+         * 
+         * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+         * 

+         *
+         * .cmvr.msgs.AgvMotionOptions options = 3;
+         */
+        public cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder getOptionsOrBuilder() {
+          if (optionsBuilder_ != null) {
+            return optionsBuilder_.getMessageOrBuilder();
+          } else {
+            return options_ == null ?
+                cmvr.msgs.AgvUtils.AgvMotionOptions.getDefaultInstance() : options_;
+          }
+        }
+        /**
+         * 
+         * 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+         * 

+         *
+         * .cmvr.msgs.AgvMotionOptions options = 3;
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.msgs.AgvUtils.AgvMotionOptions, cmvr.msgs.AgvUtils.AgvMotionOptions.Builder, cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder> 
+            getOptionsFieldBuilder() {
+          if (optionsBuilder_ == null) {
+            optionsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.msgs.AgvUtils.AgvMotionOptions, cmvr.msgs.AgvUtils.AgvMotionOptions.Builder, cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder>(
+                    getOptions(),
+                    getParentForChildren(),
+                    isClean());
+            options_ = null;
+          }
+          return optionsBuilder_;
+        }
         @java.lang.Override
         public final Builder setUnknownFields(
             final com.google.protobuf.UnknownFieldSet unknownFields) {
@@ -11271,7 +11528,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvVelocity velocity = 2;
        * @return The velocity.
        */
-      cmvr.msgs.Agv.AgvVelocity getVelocity();
+      cmvr.msgs.AgvUtils.AgvVelocity getVelocity();
       /**
        * 
        * 目标车体速度。vx/vy 单位：米/秒，wz 单位：弧度/秒。
@@ -11279,7 +11536,7 @@ public final class AgvCommand {
        *
        * .cmvr.msgs.AgvVelocity velocity = 2;
        */
-      cmvr.msgs.Agv.AgvVelocityOrBuilder getVelocityOrBuilder();
+      cmvr.msgs.AgvUtils.AgvVelocityOrBuilder getVelocityOrBuilder();
     }
     /**
      * 
@@ -11364,7 +11621,7 @@ public final class AgvCommand {
       }
 
       public static final int VELOCITY_FIELD_NUMBER = 2;
-      private cmvr.msgs.Agv.AgvVelocity velocity_;
+      private cmvr.msgs.AgvUtils.AgvVelocity velocity_;
       /**
        * 
        * 目标车体速度。vx/vy 单位：米/秒，wz 单位：弧度/秒。
@@ -11386,8 +11643,8 @@ public final class AgvCommand {
        * @return The velocity.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvVelocity getVelocity() {
-        return velocity_ == null ? cmvr.msgs.Agv.AgvVelocity.getDefaultInstance() : velocity_;
+      public cmvr.msgs.AgvUtils.AgvVelocity getVelocity() {
+        return velocity_ == null ? cmvr.msgs.AgvUtils.AgvVelocity.getDefaultInstance() : velocity_;
       }
       /**
        * 
@@ -11397,7 +11654,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvVelocity velocity = 2;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvVelocityOrBuilder getVelocityOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvVelocityOrBuilder getVelocityOrBuilder() {
         return getVelocity();
       }
 
@@ -11927,9 +12184,9 @@ public final class AgvCommand {
           return headerBuilder_;
         }
 
-        private cmvr.msgs.Agv.AgvVelocity velocity_;
+        private cmvr.msgs.AgvUtils.AgvVelocity velocity_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvVelocity, cmvr.msgs.Agv.AgvVelocity.Builder, cmvr.msgs.Agv.AgvVelocityOrBuilder> velocityBuilder_;
+            cmvr.msgs.AgvUtils.AgvVelocity, cmvr.msgs.AgvUtils.AgvVelocity.Builder, cmvr.msgs.AgvUtils.AgvVelocityOrBuilder> velocityBuilder_;
         /**
          * 
          * 目标车体速度。vx/vy 单位：米/秒，wz 单位：弧度/秒。
@@ -11949,9 +12206,9 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvVelocity velocity = 2;
          * @return The velocity.
          */
-        public cmvr.msgs.Agv.AgvVelocity getVelocity() {
+        public cmvr.msgs.AgvUtils.AgvVelocity getVelocity() {
           if (velocityBuilder_ == null) {
-            return velocity_ == null ? cmvr.msgs.Agv.AgvVelocity.getDefaultInstance() : velocity_;
+            return velocity_ == null ? cmvr.msgs.AgvUtils.AgvVelocity.getDefaultInstance() : velocity_;
           } else {
             return velocityBuilder_.getMessage();
           }
@@ -11963,7 +12220,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvVelocity velocity = 2;
          */
-        public Builder setVelocity(cmvr.msgs.Agv.AgvVelocity value) {
+        public Builder setVelocity(cmvr.msgs.AgvUtils.AgvVelocity value) {
           if (velocityBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -11984,7 +12241,7 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvVelocity velocity = 2;
          */
         public Builder setVelocity(
-            cmvr.msgs.Agv.AgvVelocity.Builder builderForValue) {
+            cmvr.msgs.AgvUtils.AgvVelocity.Builder builderForValue) {
           if (velocityBuilder_ == null) {
             velocity_ = builderForValue.build();
             onChanged();
@@ -12001,11 +12258,11 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvVelocity velocity = 2;
          */
-        public Builder mergeVelocity(cmvr.msgs.Agv.AgvVelocity value) {
+        public Builder mergeVelocity(cmvr.msgs.AgvUtils.AgvVelocity value) {
           if (velocityBuilder_ == null) {
             if (velocity_ != null) {
               velocity_ =
-                cmvr.msgs.Agv.AgvVelocity.newBuilder(velocity_).mergeFrom(value).buildPartial();
+                cmvr.msgs.AgvUtils.AgvVelocity.newBuilder(velocity_).mergeFrom(value).buildPartial();
             } else {
               velocity_ = value;
             }
@@ -12041,7 +12298,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvVelocity velocity = 2;
          */
-        public cmvr.msgs.Agv.AgvVelocity.Builder getVelocityBuilder() {
+        public cmvr.msgs.AgvUtils.AgvVelocity.Builder getVelocityBuilder() {
           
           onChanged();
           return getVelocityFieldBuilder().getBuilder();
@@ -12053,12 +12310,12 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvVelocity velocity = 2;
          */
-        public cmvr.msgs.Agv.AgvVelocityOrBuilder getVelocityOrBuilder() {
+        public cmvr.msgs.AgvUtils.AgvVelocityOrBuilder getVelocityOrBuilder() {
           if (velocityBuilder_ != null) {
             return velocityBuilder_.getMessageOrBuilder();
           } else {
             return velocity_ == null ?
-                cmvr.msgs.Agv.AgvVelocity.getDefaultInstance() : velocity_;
+                cmvr.msgs.AgvUtils.AgvVelocity.getDefaultInstance() : velocity_;
           }
         }
         /**
@@ -12069,11 +12326,11 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvVelocity velocity = 2;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvVelocity, cmvr.msgs.Agv.AgvVelocity.Builder, cmvr.msgs.Agv.AgvVelocityOrBuilder> 
+            cmvr.msgs.AgvUtils.AgvVelocity, cmvr.msgs.AgvUtils.AgvVelocity.Builder, cmvr.msgs.AgvUtils.AgvVelocityOrBuilder> 
             getVelocityFieldBuilder() {
           if (velocityBuilder_ == null) {
             velocityBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.msgs.Agv.AgvVelocity, cmvr.msgs.Agv.AgvVelocity.Builder, cmvr.msgs.Agv.AgvVelocityOrBuilder>(
+                cmvr.msgs.AgvUtils.AgvVelocity, cmvr.msgs.AgvUtils.AgvVelocity.Builder, cmvr.msgs.AgvUtils.AgvVelocityOrBuilder>(
                     getVelocity(),
                     getParentForChildren(),
                     isClean());
@@ -15940,7 +16197,7 @@ public final class AgvCommand {
        *
        * repeated .cmvr.msgs.AgvStation stations = 2;
        */
-      java.util.List 
+      java.util.List 
           getStationsList();
       /**
        * 
@@ -15949,7 +16206,7 @@ public final class AgvCommand {
        *
        * repeated .cmvr.msgs.AgvStation stations = 2;
        */
-      cmvr.msgs.Agv.AgvStation getStations(int index);
+      cmvr.msgs.AgvUtils.AgvStation getStations(int index);
       /**
        * 
        * 当前地图中的站点列表。
@@ -15965,7 +16222,7 @@ public final class AgvCommand {
        *
        * repeated .cmvr.msgs.AgvStation stations = 2;
        */
-      java.util.List 
+      java.util.List 
           getStationsOrBuilderList();
       /**
        * 
@@ -15974,7 +16231,7 @@ public final class AgvCommand {
        *
        * repeated .cmvr.msgs.AgvStation stations = 2;
        */
-      cmvr.msgs.Agv.AgvStationOrBuilder getStationsOrBuilder(
+      cmvr.msgs.AgvUtils.AgvStationOrBuilder getStationsOrBuilder(
           int index);
     }
     /**
@@ -16061,7 +16318,7 @@ public final class AgvCommand {
       }
 
       public static final int STATIONS_FIELD_NUMBER = 2;
-      private java.util.List stations_;
+      private java.util.List stations_;
       /**
        * 
        * 当前地图中的站点列表。
@@ -16070,7 +16327,7 @@ public final class AgvCommand {
        * repeated .cmvr.msgs.AgvStation stations = 2;
        */
       @java.lang.Override
-      public java.util.List getStationsList() {
+      public java.util.List getStationsList() {
         return stations_;
       }
       /**
@@ -16081,7 +16338,7 @@ public final class AgvCommand {
        * repeated .cmvr.msgs.AgvStation stations = 2;
        */
       @java.lang.Override
-      public java.util.List 
+      public java.util.List 
           getStationsOrBuilderList() {
         return stations_;
       }
@@ -16104,7 +16361,7 @@ public final class AgvCommand {
        * repeated .cmvr.msgs.AgvStation stations = 2;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvStation getStations(int index) {
+      public cmvr.msgs.AgvUtils.AgvStation getStations(int index) {
         return stations_.get(index);
       }
       /**
@@ -16115,7 +16372,7 @@ public final class AgvCommand {
        * repeated .cmvr.msgs.AgvStation stations = 2;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvStationOrBuilder getStationsOrBuilder(
+      public cmvr.msgs.AgvUtils.AgvStationOrBuilder getStationsOrBuilder(
           int index) {
         return stations_.get(index);
       }
@@ -16495,9 +16752,9 @@ public final class AgvCommand {
                   break;
                 } // case 10
                 case 18: {
-                  cmvr.msgs.Agv.AgvStation m =
+                  cmvr.msgs.AgvUtils.AgvStation m =
                       input.readMessage(
-                          cmvr.msgs.Agv.AgvStation.parser(),
+                          cmvr.msgs.AgvUtils.AgvStation.parser(),
                           extensionRegistry);
                   if (stationsBuilder_ == null) {
                     ensureStationsIsMutable();
@@ -16679,17 +16936,17 @@ public final class AgvCommand {
           return headerBuilder_;
         }
 
-        private java.util.List stations_ =
+        private java.util.List stations_ =
           java.util.Collections.emptyList();
         private void ensureStationsIsMutable() {
           if (!((bitField0_ & 0x00000001) != 0)) {
-            stations_ = new java.util.ArrayList(stations_);
+            stations_ = new java.util.ArrayList(stations_);
             bitField0_ |= 0x00000001;
            }
         }
 
         private com.google.protobuf.RepeatedFieldBuilderV3<
-            cmvr.msgs.Agv.AgvStation, cmvr.msgs.Agv.AgvStation.Builder, cmvr.msgs.Agv.AgvStationOrBuilder> stationsBuilder_;
+            cmvr.msgs.AgvUtils.AgvStation, cmvr.msgs.AgvUtils.AgvStation.Builder, cmvr.msgs.AgvUtils.AgvStationOrBuilder> stationsBuilder_;
 
         /**
          * 
@@ -16698,7 +16955,7 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
-        public java.util.List getStationsList() {
+        public java.util.List getStationsList() {
           if (stationsBuilder_ == null) {
             return java.util.Collections.unmodifiableList(stations_);
           } else {
@@ -16726,7 +16983,7 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
-        public cmvr.msgs.Agv.AgvStation getStations(int index) {
+        public cmvr.msgs.AgvUtils.AgvStation getStations(int index) {
           if (stationsBuilder_ == null) {
             return stations_.get(index);
           } else {
@@ -16741,7 +16998,7 @@ public final class AgvCommand {
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
         public Builder setStations(
-            int index, cmvr.msgs.Agv.AgvStation value) {
+            int index, cmvr.msgs.AgvUtils.AgvStation value) {
           if (stationsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -16762,7 +17019,7 @@ public final class AgvCommand {
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
         public Builder setStations(
-            int index, cmvr.msgs.Agv.AgvStation.Builder builderForValue) {
+            int index, cmvr.msgs.AgvUtils.AgvStation.Builder builderForValue) {
           if (stationsBuilder_ == null) {
             ensureStationsIsMutable();
             stations_.set(index, builderForValue.build());
@@ -16779,7 +17036,7 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
-        public Builder addStations(cmvr.msgs.Agv.AgvStation value) {
+        public Builder addStations(cmvr.msgs.AgvUtils.AgvStation value) {
           if (stationsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -16800,7 +17057,7 @@ public final class AgvCommand {
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
         public Builder addStations(
-            int index, cmvr.msgs.Agv.AgvStation value) {
+            int index, cmvr.msgs.AgvUtils.AgvStation value) {
           if (stationsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -16821,7 +17078,7 @@ public final class AgvCommand {
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
         public Builder addStations(
-            cmvr.msgs.Agv.AgvStation.Builder builderForValue) {
+            cmvr.msgs.AgvUtils.AgvStation.Builder builderForValue) {
           if (stationsBuilder_ == null) {
             ensureStationsIsMutable();
             stations_.add(builderForValue.build());
@@ -16839,7 +17096,7 @@ public final class AgvCommand {
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
         public Builder addStations(
-            int index, cmvr.msgs.Agv.AgvStation.Builder builderForValue) {
+            int index, cmvr.msgs.AgvUtils.AgvStation.Builder builderForValue) {
           if (stationsBuilder_ == null) {
             ensureStationsIsMutable();
             stations_.add(index, builderForValue.build());
@@ -16857,7 +17114,7 @@ public final class AgvCommand {
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
         public Builder addAllStations(
-            java.lang.Iterable values) {
+            java.lang.Iterable values) {
           if (stationsBuilder_ == null) {
             ensureStationsIsMutable();
             com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -16909,7 +17166,7 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
-        public cmvr.msgs.Agv.AgvStation.Builder getStationsBuilder(
+        public cmvr.msgs.AgvUtils.AgvStation.Builder getStationsBuilder(
             int index) {
           return getStationsFieldBuilder().getBuilder(index);
         }
@@ -16920,7 +17177,7 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
-        public cmvr.msgs.Agv.AgvStationOrBuilder getStationsOrBuilder(
+        public cmvr.msgs.AgvUtils.AgvStationOrBuilder getStationsOrBuilder(
             int index) {
           if (stationsBuilder_ == null) {
             return stations_.get(index);  } else {
@@ -16934,7 +17191,7 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
-        public java.util.List 
+        public java.util.List 
              getStationsOrBuilderList() {
           if (stationsBuilder_ != null) {
             return stationsBuilder_.getMessageOrBuilderList();
@@ -16949,9 +17206,9 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
-        public cmvr.msgs.Agv.AgvStation.Builder addStationsBuilder() {
+        public cmvr.msgs.AgvUtils.AgvStation.Builder addStationsBuilder() {
           return getStationsFieldBuilder().addBuilder(
-              cmvr.msgs.Agv.AgvStation.getDefaultInstance());
+              cmvr.msgs.AgvUtils.AgvStation.getDefaultInstance());
         }
         /**
          * 
@@ -16960,10 +17217,10 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
-        public cmvr.msgs.Agv.AgvStation.Builder addStationsBuilder(
+        public cmvr.msgs.AgvUtils.AgvStation.Builder addStationsBuilder(
             int index) {
           return getStationsFieldBuilder().addBuilder(
-              index, cmvr.msgs.Agv.AgvStation.getDefaultInstance());
+              index, cmvr.msgs.AgvUtils.AgvStation.getDefaultInstance());
         }
         /**
          * 
@@ -16972,16 +17229,16 @@ public final class AgvCommand {
          *
          * repeated .cmvr.msgs.AgvStation stations = 2;
          */
-        public java.util.List 
+        public java.util.List 
              getStationsBuilderList() {
           return getStationsFieldBuilder().getBuilderList();
         }
         private com.google.protobuf.RepeatedFieldBuilderV3<
-            cmvr.msgs.Agv.AgvStation, cmvr.msgs.Agv.AgvStation.Builder, cmvr.msgs.Agv.AgvStationOrBuilder> 
+            cmvr.msgs.AgvUtils.AgvStation, cmvr.msgs.AgvUtils.AgvStation.Builder, cmvr.msgs.AgvUtils.AgvStationOrBuilder> 
             getStationsFieldBuilder() {
           if (stationsBuilder_ == null) {
             stationsBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-                cmvr.msgs.Agv.AgvStation, cmvr.msgs.Agv.AgvStation.Builder, cmvr.msgs.Agv.AgvStationOrBuilder>(
+                cmvr.msgs.AgvUtils.AgvStation, cmvr.msgs.AgvUtils.AgvStation.Builder, cmvr.msgs.AgvUtils.AgvStationOrBuilder>(
                     stations_,
                     ((bitField0_ & 0x00000001) != 0),
                     getParentForChildren(),
@@ -19803,7 +20060,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvMapDimension dimension = 2;
        * @return The dimension.
        */
-      cmvr.msgs.Agv.AgvMapDimension getDimension();
+      cmvr.msgs.AgvUtils.AgvMapDimension getDimension();
 
       /**
        * 
@@ -19940,10 +20197,10 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvMapDimension dimension = 2;
        * @return The dimension.
        */
-      @java.lang.Override public cmvr.msgs.Agv.AgvMapDimension getDimension() {
+      @java.lang.Override public cmvr.msgs.AgvUtils.AgvMapDimension getDimension() {
         @SuppressWarnings("deprecation")
-        cmvr.msgs.Agv.AgvMapDimension result = cmvr.msgs.Agv.AgvMapDimension.valueOf(dimension_);
-        return result == null ? cmvr.msgs.Agv.AgvMapDimension.UNRECOGNIZED : result;
+        cmvr.msgs.AgvUtils.AgvMapDimension result = cmvr.msgs.AgvUtils.AgvMapDimension.valueOf(dimension_);
+        return result == null ? cmvr.msgs.AgvUtils.AgvMapDimension.UNRECOGNIZED : result;
       }
 
       public static final int MAP_NAME_FIELD_NUMBER = 3;
@@ -20024,7 +20281,7 @@ public final class AgvCommand {
         if (header_ != null) {
           output.writeMessage(1, getHeader());
         }
-        if (dimension_ != cmvr.msgs.Agv.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED.getNumber()) {
+        if (dimension_ != cmvr.msgs.AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED.getNumber()) {
           output.writeEnum(2, dimension_);
         }
         if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(mapName_)) {
@@ -20046,7 +20303,7 @@ public final class AgvCommand {
           size += com.google.protobuf.CodedOutputStream
             .computeMessageSize(1, getHeader());
         }
-        if (dimension_ != cmvr.msgs.Agv.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED.getNumber()) {
+        if (dimension_ != cmvr.msgs.AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED.getNumber()) {
           size += com.google.protobuf.CodedOutputStream
             .computeEnumSize(2, dimension_);
         }
@@ -20598,10 +20855,10 @@ public final class AgvCommand {
          * @return The dimension.
          */
         @java.lang.Override
-        public cmvr.msgs.Agv.AgvMapDimension getDimension() {
+        public cmvr.msgs.AgvUtils.AgvMapDimension getDimension() {
           @SuppressWarnings("deprecation")
-          cmvr.msgs.Agv.AgvMapDimension result = cmvr.msgs.Agv.AgvMapDimension.valueOf(dimension_);
-          return result == null ? cmvr.msgs.Agv.AgvMapDimension.UNRECOGNIZED : result;
+          cmvr.msgs.AgvUtils.AgvMapDimension result = cmvr.msgs.AgvUtils.AgvMapDimension.valueOf(dimension_);
+          return result == null ? cmvr.msgs.AgvUtils.AgvMapDimension.UNRECOGNIZED : result;
         }
         /**
          * 
@@ -20612,7 +20869,7 @@ public final class AgvCommand {
          * @param value The dimension to set.
          * @return This builder for chaining.
          */
-        public Builder setDimension(cmvr.msgs.Agv.AgvMapDimension value) {
+        public Builder setDimension(cmvr.msgs.AgvUtils.AgvMapDimension value) {
           if (value == null) {
             throw new NullPointerException();
           }
@@ -22144,7 +22401,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvMapDimension dimension = 2;
        * @return The dimension.
        */
-      cmvr.msgs.Agv.AgvMapDimension getDimension();
+      cmvr.msgs.AgvUtils.AgvMapDimension getDimension();
 
       /**
        * 
@@ -22322,10 +22579,10 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvMapDimension dimension = 2;
        * @return The dimension.
        */
-      @java.lang.Override public cmvr.msgs.Agv.AgvMapDimension getDimension() {
+      @java.lang.Override public cmvr.msgs.AgvUtils.AgvMapDimension getDimension() {
         @SuppressWarnings("deprecation")
-        cmvr.msgs.Agv.AgvMapDimension result = cmvr.msgs.Agv.AgvMapDimension.valueOf(dimension_);
-        return result == null ? cmvr.msgs.Agv.AgvMapDimension.UNRECOGNIZED : result;
+        cmvr.msgs.AgvUtils.AgvMapDimension result = cmvr.msgs.AgvUtils.AgvMapDimension.valueOf(dimension_);
+        return result == null ? cmvr.msgs.AgvUtils.AgvMapDimension.UNRECOGNIZED : result;
       }
 
       public static final int MAP_NAME_FIELD_NUMBER = 3;
@@ -22482,7 +22739,7 @@ public final class AgvCommand {
         if (header_ != null) {
           output.writeMessage(1, getHeader());
         }
-        if (dimension_ != cmvr.msgs.Agv.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED.getNumber()) {
+        if (dimension_ != cmvr.msgs.AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED.getNumber()) {
           output.writeEnum(2, dimension_);
         }
         if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(mapName_)) {
@@ -22513,7 +22770,7 @@ public final class AgvCommand {
           size += com.google.protobuf.CodedOutputStream
             .computeMessageSize(1, getHeader());
         }
-        if (dimension_ != cmvr.msgs.Agv.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED.getNumber()) {
+        if (dimension_ != cmvr.msgs.AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED.getNumber()) {
           size += com.google.protobuf.CodedOutputStream
             .computeEnumSize(2, dimension_);
         }
@@ -23123,10 +23380,10 @@ public final class AgvCommand {
          * @return The dimension.
          */
         @java.lang.Override
-        public cmvr.msgs.Agv.AgvMapDimension getDimension() {
+        public cmvr.msgs.AgvUtils.AgvMapDimension getDimension() {
           @SuppressWarnings("deprecation")
-          cmvr.msgs.Agv.AgvMapDimension result = cmvr.msgs.Agv.AgvMapDimension.valueOf(dimension_);
-          return result == null ? cmvr.msgs.Agv.AgvMapDimension.UNRECOGNIZED : result;
+          cmvr.msgs.AgvUtils.AgvMapDimension result = cmvr.msgs.AgvUtils.AgvMapDimension.valueOf(dimension_);
+          return result == null ? cmvr.msgs.AgvUtils.AgvMapDimension.UNRECOGNIZED : result;
         }
         /**
          * 
@@ -23137,7 +23394,7 @@ public final class AgvCommand {
          * @param value The dimension to set.
          * @return This builder for chaining.
          */
-        public Builder setDimension(cmvr.msgs.Agv.AgvMapDimension value) {
+        public Builder setDimension(cmvr.msgs.AgvUtils.AgvMapDimension value) {
           if (value == null) {
             throw new NullPointerException();
           }
@@ -23593,7 +23850,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvUnifiedMapUpdate update = 2;
        * @return The update.
        */
-      cmvr.msgs.Agv.AgvUnifiedMapUpdate getUpdate();
+      cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate getUpdate();
       /**
        * 
        * 统一地图更新。payload 只会是 map_2d 或 map_3d，不暴露厂商原始格式。
@@ -23601,7 +23858,7 @@ public final class AgvCommand {
        *
        * .cmvr.msgs.AgvUnifiedMapUpdate update = 2;
        */
-      cmvr.msgs.Agv.AgvUnifiedMapUpdateOrBuilder getUpdateOrBuilder();
+      cmvr.msgs.AgvUtils.AgvUnifiedMapUpdateOrBuilder getUpdateOrBuilder();
     }
     /**
      * 
@@ -23686,7 +23943,7 @@ public final class AgvCommand {
       }
 
       public static final int UPDATE_FIELD_NUMBER = 2;
-      private cmvr.msgs.Agv.AgvUnifiedMapUpdate update_;
+      private cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate update_;
       /**
        * 
        * 统一地图更新。payload 只会是 map_2d 或 map_3d，不暴露厂商原始格式。
@@ -23708,8 +23965,8 @@ public final class AgvCommand {
        * @return The update.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMapUpdate getUpdate() {
-        return update_ == null ? cmvr.msgs.Agv.AgvUnifiedMapUpdate.getDefaultInstance() : update_;
+      public cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate getUpdate() {
+        return update_ == null ? cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.getDefaultInstance() : update_;
       }
       /**
        * 
@@ -23719,7 +23976,7 @@ public final class AgvCommand {
        * .cmvr.msgs.AgvUnifiedMapUpdate update = 2;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMapUpdateOrBuilder getUpdateOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvUnifiedMapUpdateOrBuilder getUpdateOrBuilder() {
         return getUpdate();
       }
 
@@ -24249,9 +24506,9 @@ public final class AgvCommand {
           return headerBuilder_;
         }
 
-        private cmvr.msgs.Agv.AgvUnifiedMapUpdate update_;
+        private cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate update_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvUnifiedMapUpdate, cmvr.msgs.Agv.AgvUnifiedMapUpdate.Builder, cmvr.msgs.Agv.AgvUnifiedMapUpdateOrBuilder> updateBuilder_;
+            cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate, cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.Builder, cmvr.msgs.AgvUtils.AgvUnifiedMapUpdateOrBuilder> updateBuilder_;
         /**
          * 
          * 统一地图更新。payload 只会是 map_2d 或 map_3d，不暴露厂商原始格式。
@@ -24271,9 +24528,9 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvUnifiedMapUpdate update = 2;
          * @return The update.
          */
-        public cmvr.msgs.Agv.AgvUnifiedMapUpdate getUpdate() {
+        public cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate getUpdate() {
           if (updateBuilder_ == null) {
-            return update_ == null ? cmvr.msgs.Agv.AgvUnifiedMapUpdate.getDefaultInstance() : update_;
+            return update_ == null ? cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.getDefaultInstance() : update_;
           } else {
             return updateBuilder_.getMessage();
           }
@@ -24285,7 +24542,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvUnifiedMapUpdate update = 2;
          */
-        public Builder setUpdate(cmvr.msgs.Agv.AgvUnifiedMapUpdate value) {
+        public Builder setUpdate(cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate value) {
           if (updateBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -24306,7 +24563,7 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvUnifiedMapUpdate update = 2;
          */
         public Builder setUpdate(
-            cmvr.msgs.Agv.AgvUnifiedMapUpdate.Builder builderForValue) {
+            cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.Builder builderForValue) {
           if (updateBuilder_ == null) {
             update_ = builderForValue.build();
             onChanged();
@@ -24323,11 +24580,11 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvUnifiedMapUpdate update = 2;
          */
-        public Builder mergeUpdate(cmvr.msgs.Agv.AgvUnifiedMapUpdate value) {
+        public Builder mergeUpdate(cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate value) {
           if (updateBuilder_ == null) {
             if (update_ != null) {
               update_ =
-                cmvr.msgs.Agv.AgvUnifiedMapUpdate.newBuilder(update_).mergeFrom(value).buildPartial();
+                cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.newBuilder(update_).mergeFrom(value).buildPartial();
             } else {
               update_ = value;
             }
@@ -24363,7 +24620,7 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvUnifiedMapUpdate update = 2;
          */
-        public cmvr.msgs.Agv.AgvUnifiedMapUpdate.Builder getUpdateBuilder() {
+        public cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.Builder getUpdateBuilder() {
           
           onChanged();
           return getUpdateFieldBuilder().getBuilder();
@@ -24375,12 +24632,12 @@ public final class AgvCommand {
          *
          * .cmvr.msgs.AgvUnifiedMapUpdate update = 2;
          */
-        public cmvr.msgs.Agv.AgvUnifiedMapUpdateOrBuilder getUpdateOrBuilder() {
+        public cmvr.msgs.AgvUtils.AgvUnifiedMapUpdateOrBuilder getUpdateOrBuilder() {
           if (updateBuilder_ != null) {
             return updateBuilder_.getMessageOrBuilder();
           } else {
             return update_ == null ?
-                cmvr.msgs.Agv.AgvUnifiedMapUpdate.getDefaultInstance() : update_;
+                cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.getDefaultInstance() : update_;
           }
         }
         /**
@@ -24391,11 +24648,11 @@ public final class AgvCommand {
          * .cmvr.msgs.AgvUnifiedMapUpdate update = 2;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.msgs.Agv.AgvUnifiedMapUpdate, cmvr.msgs.Agv.AgvUnifiedMapUpdate.Builder, cmvr.msgs.Agv.AgvUnifiedMapUpdateOrBuilder> 
+            cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate, cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.Builder, cmvr.msgs.AgvUtils.AgvUnifiedMapUpdateOrBuilder> 
             getUpdateFieldBuilder() {
           if (updateBuilder_ == null) {
             updateBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.msgs.Agv.AgvUnifiedMapUpdate, cmvr.msgs.Agv.AgvUnifiedMapUpdate.Builder, cmvr.msgs.Agv.AgvUnifiedMapUpdateOrBuilder>(
+                cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate, cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.Builder, cmvr.msgs.AgvUtils.AgvUnifiedMapUpdateOrBuilder>(
                     getUpdate(),
                     getParentForChildren(),
                     isClean());
@@ -25002,76 +25259,77 @@ public final class AgvCommand {
   static {
     java.lang.String[] descriptorData = {
       "\n\032cmvr/api/agv_command.proto\022\010cmvr.api\032\025" +
-      "cmvr/api/common.proto\032\023cmvr/msgs/agv.pro" +
-      "to\"\275\001\n\026AgvRuntimeStateCommand\032:\n\007Request" +
-      "\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeade" +
-      "r.Request\032g\n\010Feedback\0220\n\006header\030\001 \001(\0132 ." +
-      "cmvr.api.CommandHeader.Feedback\022)\n\005state" +
-      "\030\002 \001(\0132\032.cmvr.msgs.AgvRuntimeState\"\306\001\n\032A" +
-      "gvNavigationStatusCommand\032:\n\007Request\022/\n\006" +
-      "header\030\001 \001(\0132\037.cmvr.api.CommandHeader.Re" +
-      "quest\032l\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr" +
-      ".api.CommandHeader.Feedback\022.\n\006status\030\002 " +
-      "\001(\0132\036.cmvr.msgs.AgvNavigationStatus\"\234\002\n\030" +
-      "AgvNavigateToPoseCommand\032\301\001\n\007Request\022/\n\006" +
-      "header\030\001 \001(\0132\037.cmvr.api.CommandHeader.Re" +
-      "quest\022\"\n\004pose\030\002 \001(\0132\024.cmvr.msgs.AgvPose2" +
-      "d\022,\n\007options\030\003 \001(\0132\033.cmvr.msgs.AgvMotion" +
-      "Options\0223\n\016adapter_params\030\004 \001(\0132\033.cmvr.m" +
-      "sgs.AgvAdapterParams\032<\n\010Feedback\0220\n\006head" +
-      "er\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedba" +
-      "ck\"\217\002\n\033AgvNavigateToStationCommand\032\261\001\n\007R" +
-      "equest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comman" +
-      "dHeader.Request\022\022\n\nstation_id\030\002 \001(\t\022,\n\007o" +
-      "ptions\030\003 \001(\0132\033.cmvr.msgs.AgvMotionOption" +
-      "s\0223\n\016adapter_params\030\004 \001(\0132\033.cmvr.msgs.Ag" +
-      "vAdapterParams\032<\n\010Feedback\0220\n\006header\030\001 \001" +
-      "(\0132 .cmvr.api.CommandHeader.Feedback\"\271\001\n" +
-      "\024AgvFollowPathCommand\032c\n\007Request\022/\n\006head" +
-      "er\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reques" +
-      "t\022\'\n\004path\030\002 \003(\0132\031.cmvr.msgs.AgvPathSegme" +
-      "nt\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.ap" +
-      "i.CommandHeader.Feedback\"\273\001\n\025AgvSetVeloc" +
-      "ityCommand\032d\n\007Request\022/\n\006header\030\001 \001(\0132\037." +
-      "cmvr.api.CommandHeader.Request\022(\n\010veloci" +
-      "ty\030\002 \001(\0132\026.cmvr.msgs.AgvVelocity\032<\n\010Feed" +
-      "back\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandH" +
-      "eader.Feedback\"\234\001\n\022AgvListMapsCommand\032:\n" +
-      "\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comm" +
-      "andHeader.Request\032J\n\010Feedback\0220\n\006header\030" +
-      "\001 \001(\0132 .cmvr.api.CommandHeader.Feedback\022" +
-      "\014\n\004maps\030\002 \003(\t\"\273\001\n\026AgvListStationsCommand" +
-      "\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.C" +
-      "ommandHeader.Request\032e\n\010Feedback\0220\n\006head" +
-      "er\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedba" +
-      "ck\022\'\n\010stations\030\002 \003(\0132\025.cmvr.msgs.AgvStat" +
-      "ion\"\275\001\n\rAgvMapCommand\032]\n\007Request\022/\n\006head" +
-      "er\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reques" +
-      "t\022\020\n\010map_name\030\002 \001(\t\022\017\n\007content\030\003 \001(\t\032M\n\010" +
-      "Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api.Comm" +
-      "andHeader.Feedback\022\017\n\007content\030\002 \001(\t\"\373\001\n\026" +
-      "AgvStartMappingCommand\032\216\001\n\007Request\022/\n\006he" +
-      "ader\030\001 \001(\0132\037.cmvr.api.CommandHeader.Requ" +
-      "est\022-\n\tdimension\030\002 \001(\0162\032.cmvr.msgs.AgvMa" +
-      "pDimension\022\020\n\010map_name\030\003 \001(\t\022\021\n\treal_tim" +
-      "e\030\004 \001(\010\032P\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cm" +
-      "vr.api.CommandHeader.Feedback\022\022\n\nsession" +
-      "_id\030\002 \001(\t\"\327\002\n\023AgvMapStreamCommand\032\321\001\n\007Re" +
+      "cmvr/api/common.proto\032\030cmvr/api/agv_util" +
+      "s.proto\"\275\001\n\026AgvRuntimeStateCommand\032:\n\007Re" +
       "quest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Command" +
-      "Header.Request\022-\n\tdimension\030\002 \001(\0162\032.cmvr" +
-      ".msgs.AgvMapDimension\022\020\n\010map_name\030\003 \001(\t\022" +
-      "\024\n\014resume_token\030\004 \001(\t\022\020\n\010snapshot\030\005 \001(\010\022" +
-      "\023\n\013incremental\030\006 \001(\010\022\027\n\017max_chunk_bytes\030" +
-      "\007 \001(\005\032l\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr" +
-      ".api.CommandHeader.Feedback\022.\n\006update\030\002 " +
-      "\001(\0132\036.cmvr.msgs.AgvUnifiedMapUpdateb\006pro" +
-      "to3"
+      "Header.Request\032g\n\010Feedback\0220\n\006header\030\001 \001" +
+      "(\0132 .cmvr.api.CommandHeader.Feedback\022)\n\005" +
+      "state\030\002 \001(\0132\032.cmvr.msgs.AgvRuntimeState\"" +
+      "\306\001\n\032AgvNavigationStatusCommand\032:\n\007Reques" +
+      "t\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHead" +
+      "er.Request\032l\n\010Feedback\0220\n\006header\030\001 \001(\0132 " +
+      ".cmvr.api.CommandHeader.Feedback\022.\n\006stat" +
+      "us\030\002 \001(\0132\036.cmvr.msgs.AgvNavigationStatus" +
+      "\"\234\002\n\030AgvNavigateToPoseCommand\032\301\001\n\007Reques" +
+      "t\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHead" +
+      "er.Request\022\"\n\004pose\030\002 \001(\0132\024.cmvr.msgs.Agv" +
+      "Pose2d\022,\n\007options\030\003 \001(\0132\033.cmvr.msgs.AgvM" +
+      "otionOptions\0223\n\016adapter_params\030\004 \001(\0132\033.c" +
+      "mvr.msgs.AgvAdapterParams\032<\n\010Feedback\0220\n" +
+      "\006header\030\001 \001(\0132 .cmvr.api.CommandHeader.F" +
+      "eedback\"\217\002\n\033AgvNavigateToStationCommand\032" +
+      "\261\001\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.C" +
+      "ommandHeader.Request\022\022\n\nstation_id\030\002 \001(\t" +
+      "\022,\n\007options\030\003 \001(\0132\033.cmvr.msgs.AgvMotionO" +
+      "ptions\0223\n\016adapter_params\030\004 \001(\0132\033.cmvr.ms" +
+      "gs.AgvAdapterParams\032<\n\010Feedback\0220\n\006heade" +
+      "r\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedbac" +
+      "k\"\350\001\n\024AgvFollowPathCommand\032\221\001\n\007Request\022/" +
+      "\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeader." +
+      "Request\022\'\n\004path\030\002 \003(\0132\031.cmvr.msgs.AgvPat" +
+      "hSegment\022,\n\007options\030\003 \001(\0132\033.cmvr.msgs.Ag" +
+      "vMotionOptions\032<\n\010Feedback\0220\n\006header\030\001 \001" +
+      "(\0132 .cmvr.api.CommandHeader.Feedback\"\273\001\n" +
+      "\025AgvSetVelocityCommand\032d\n\007Request\022/\n\006hea" +
+      "der\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reque" +
+      "st\022(\n\010velocity\030\002 \001(\0132\026.cmvr.msgs.AgvVelo" +
+      "city\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr." +
+      "api.CommandHeader.Feedback\"\234\001\n\022AgvListMa" +
+      "psCommand\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.c" +
+      "mvr.api.CommandHeader.Request\032J\n\010Feedbac" +
+      "k\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandHead" +
+      "er.Feedback\022\014\n\004maps\030\002 \003(\t\"\273\001\n\026AgvListSta" +
+      "tionsCommand\032:\n\007Request\022/\n\006header\030\001 \001(\0132" +
+      "\037.cmvr.api.CommandHeader.Request\032e\n\010Feed" +
+      "back\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandH" +
+      "eader.Feedback\022\'\n\010stations\030\002 \003(\0132\025.cmvr." +
+      "msgs.AgvStation\"\275\001\n\rAgvMapCommand\032]\n\007Req" +
+      "uest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandH" +
+      "eader.Request\022\020\n\010map_name\030\002 \001(\t\022\017\n\007conte" +
+      "nt\030\003 \001(\t\032M\n\010Feedback\0220\n\006header\030\001 \001(\0132 .c" +
+      "mvr.api.CommandHeader.Feedback\022\017\n\007conten" +
+      "t\030\002 \001(\t\"\373\001\n\026AgvStartMappingCommand\032\216\001\n\007R" +
+      "equest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comman" +
+      "dHeader.Request\022-\n\tdimension\030\002 \001(\0162\032.cmv" +
+      "r.msgs.AgvMapDimension\022\020\n\010map_name\030\003 \001(\t" +
+      "\022\021\n\treal_time\030\004 \001(\010\032P\n\010Feedback\0220\n\006heade" +
+      "r\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedbac" +
+      "k\022\022\n\nsession_id\030\002 \001(\t\"\327\002\n\023AgvMapStreamCo" +
+      "mmand\032\321\001\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr" +
+      ".api.CommandHeader.Request\022-\n\tdimension\030" +
+      "\002 \001(\0162\032.cmvr.msgs.AgvMapDimension\022\020\n\010map" +
+      "_name\030\003 \001(\t\022\024\n\014resume_token\030\004 \001(\t\022\020\n\010sna" +
+      "pshot\030\005 \001(\010\022\023\n\013incremental\030\006 \001(\010\022\027\n\017max_" +
+      "chunk_bytes\030\007 \001(\005\032l\n\010Feedback\0220\n\006header\030" +
+      "\001 \001(\0132 .cmvr.api.CommandHeader.Feedback\022" +
+      ".\n\006update\030\002 \001(\0132\036.cmvr.msgs.AgvUnifiedMa" +
+      "pUpdateb\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
         new com.google.protobuf.Descriptors.FileDescriptor[] {
           cmvr.api.Common.getDescriptor(),
-          cmvr.msgs.Agv.getDescriptor(),
+          cmvr.msgs.AgvUtils.getDescriptor(),
         });
     internal_static_cmvr_api_AgvRuntimeStateCommand_descriptor =
       getDescriptor().getMessageTypes().get(0);
@@ -25156,7 +25414,7 @@ public final class AgvCommand {
     internal_static_cmvr_api_AgvFollowPathCommand_Request_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_AgvFollowPathCommand_Request_descriptor,
-        new java.lang.String[] { "Header", "Path", });
+        new java.lang.String[] { "Header", "Path", "Options", });
     internal_static_cmvr_api_AgvFollowPathCommand_Feedback_descriptor =
       internal_static_cmvr_api_AgvFollowPathCommand_descriptor.getNestedTypes().get(1);
     internal_static_cmvr_api_AgvFollowPathCommand_Feedback_fieldAccessorTable = new
@@ -25272,7 +25530,7 @@ public final class AgvCommand {
         internal_static_cmvr_api_AgvMapStreamCommand_Feedback_descriptor,
         new java.lang.String[] { "Header", "Update", });
     cmvr.api.Common.getDescriptor();
-    cmvr.msgs.Agv.getDescriptor();
+    cmvr.msgs.AgvUtils.getDescriptor();
   }
 
   // @@protoc_insertion_point(outer_class_scope)
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraCommand.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraCommand.java
index 01c12b6..3cf22a5 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraCommand.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraCommand.java
@@ -64,6 +64,53 @@ public final class CameraCommand {
      * @return The isKeyFrame.
      */
     boolean getIsKeyFrame();
+
+    /**
+     * 
+     * Optional capture and source metadata. Fields 1-6 remain wire-compatible
+     * with existing clients; older clients safely ignore these additions.
+     * 

+     *
+     * int64 capture_utc_ns = 7;
+     * @return The captureUtcNs.
+     */
+    long getCaptureUtcNs();
+
+    /**
+     * uint64 source_sequence = 8;
+     * @return The sourceSequence.
+     */
+    long getSourceSequence();
+
+    /**
+     * int64 pts = 9;
+     * @return The pts.
+     */
+    long getPts();
+
+    /**
+     * int64 dts = 10;
+     * @return The dts.
+     */
+    long getDts();
+
+    /**
+     * uint32 source_fps = 11;
+     * @return The sourceFps.
+     */
+    int getSourceFps();
+
+    /**
+     * uint64 source_timestamp = 12;
+     * @return The sourceTimestamp.
+     */
+    long getSourceTimestamp();
+
+    /**
+     * uint64 source_frame_number = 13;
+     * @return The sourceFrameNumber.
+     */
+    long getSourceFrameNumber();
   }
   /**
    * Protobuf type {@code cmvr.api.FrameData}
@@ -353,6 +400,88 @@ public final class CameraCommand {
       return isKeyFrame_;
     }
 
+    public static final int CAPTURE_UTC_NS_FIELD_NUMBER = 7;
+    private long captureUtcNs_;
+    /**
+     * 
+     * Optional capture and source metadata. Fields 1-6 remain wire-compatible
+     * with existing clients; older clients safely ignore these additions.
+     * 

+     *
+     * int64 capture_utc_ns = 7;
+     * @return The captureUtcNs.
+     */
+    @java.lang.Override
+    public long getCaptureUtcNs() {
+      return captureUtcNs_;
+    }
+
+    public static final int SOURCE_SEQUENCE_FIELD_NUMBER = 8;
+    private long sourceSequence_;
+    /**
+     * uint64 source_sequence = 8;
+     * @return The sourceSequence.
+     */
+    @java.lang.Override
+    public long getSourceSequence() {
+      return sourceSequence_;
+    }
+
+    public static final int PTS_FIELD_NUMBER = 9;
+    private long pts_;
+    /**
+     * int64 pts = 9;
+     * @return The pts.
+     */
+    @java.lang.Override
+    public long getPts() {
+      return pts_;
+    }
+
+    public static final int DTS_FIELD_NUMBER = 10;
+    private long dts_;
+    /**
+     * int64 dts = 10;
+     * @return The dts.
+     */
+    @java.lang.Override
+    public long getDts() {
+      return dts_;
+    }
+
+    public static final int SOURCE_FPS_FIELD_NUMBER = 11;
+    private int sourceFps_;
+    /**
+     * uint32 source_fps = 11;
+     * @return The sourceFps.
+     */
+    @java.lang.Override
+    public int getSourceFps() {
+      return sourceFps_;
+    }
+
+    public static final int SOURCE_TIMESTAMP_FIELD_NUMBER = 12;
+    private long sourceTimestamp_;
+    /**
+     * uint64 source_timestamp = 12;
+     * @return The sourceTimestamp.
+     */
+    @java.lang.Override
+    public long getSourceTimestamp() {
+      return sourceTimestamp_;
+    }
+
+    public static final int SOURCE_FRAME_NUMBER_FIELD_NUMBER = 13;
+    private long sourceFrameNumber_;
+    /**
+     * uint64 source_frame_number = 13;
+     * @return The sourceFrameNumber.
+     */
+    @java.lang.Override
+    public long getSourceFrameNumber() {
+      return sourceFrameNumber_;
+    }
+
     private byte memoizedIsInitialized = -1;
     @java.lang.Override
     public final boolean isInitialized() {
@@ -385,6 +514,27 @@ public final class CameraCommand {
       if (isKeyFrame_ != false) {
         output.writeBool(6, isKeyFrame_);
       }
+      if (captureUtcNs_ != 0L) {
+        output.writeInt64(7, captureUtcNs_);
+      }
+      if (sourceSequence_ != 0L) {
+        output.writeUInt64(8, sourceSequence_);
+      }
+      if (pts_ != 0L) {
+        output.writeInt64(9, pts_);
+      }
+      if (dts_ != 0L) {
+        output.writeInt64(10, dts_);
+      }
+      if (sourceFps_ != 0) {
+        output.writeUInt32(11, sourceFps_);
+      }
+      if (sourceTimestamp_ != 0L) {
+        output.writeUInt64(12, sourceTimestamp_);
+      }
+      if (sourceFrameNumber_ != 0L) {
+        output.writeUInt64(13, sourceFrameNumber_);
+      }
       getUnknownFields().writeTo(output);
     }
 
@@ -417,6 +567,34 @@ public final class CameraCommand {
         size += com.google.protobuf.CodedOutputStream
           .computeBoolSize(6, isKeyFrame_);
       }
+      if (captureUtcNs_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt64Size(7, captureUtcNs_);
+      }
+      if (sourceSequence_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt64Size(8, sourceSequence_);
+      }
+      if (pts_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt64Size(9, pts_);
+      }
+      if (dts_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt64Size(10, dts_);
+      }
+      if (sourceFps_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(11, sourceFps_);
+      }
+      if (sourceTimestamp_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt64Size(12, sourceTimestamp_);
+      }
+      if (sourceFrameNumber_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt64Size(13, sourceFrameNumber_);
+      }
       size += getUnknownFields().getSerializedSize();
       memoizedSize = size;
       return size;
@@ -443,6 +621,20 @@ public final class CameraCommand {
           .equals(other.getCodec())) return false;
       if (getIsKeyFrame()
           != other.getIsKeyFrame()) return false;
+      if (getCaptureUtcNs()
+          != other.getCaptureUtcNs()) return false;
+      if (getSourceSequence()
+          != other.getSourceSequence()) return false;
+      if (getPts()
+          != other.getPts()) return false;
+      if (getDts()
+          != other.getDts()) return false;
+      if (getSourceFps()
+          != other.getSourceFps()) return false;
+      if (getSourceTimestamp()
+          != other.getSourceTimestamp()) return false;
+      if (getSourceFrameNumber()
+          != other.getSourceFrameNumber()) return false;
       if (!getUnknownFields().equals(other.getUnknownFields())) return false;
       return true;
     }
@@ -467,6 +659,26 @@ public final class CameraCommand {
       hash = (37 * hash) + IS_KEY_FRAME_FIELD_NUMBER;
       hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
           getIsKeyFrame());
+      hash = (37 * hash) + CAPTURE_UTC_NS_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          getCaptureUtcNs());
+      hash = (37 * hash) + SOURCE_SEQUENCE_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          getSourceSequence());
+      hash = (37 * hash) + PTS_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          getPts());
+      hash = (37 * hash) + DTS_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          getDts());
+      hash = (37 * hash) + SOURCE_FPS_FIELD_NUMBER;
+      hash = (53 * hash) + getSourceFps();
+      hash = (37 * hash) + SOURCE_TIMESTAMP_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          getSourceTimestamp());
+      hash = (37 * hash) + SOURCE_FRAME_NUMBER_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          getSourceFrameNumber());
       hash = (29 * hash) + getUnknownFields().hashCode();
       memoizedHashCode = hash;
       return hash;
@@ -607,6 +819,20 @@ public final class CameraCommand {
 
         isKeyFrame_ = false;
 
+        captureUtcNs_ = 0L;
+
+        sourceSequence_ = 0L;
+
+        pts_ = 0L;
+
+        dts_ = 0L;
+
+        sourceFps_ = 0;
+
+        sourceTimestamp_ = 0L;
+
+        sourceFrameNumber_ = 0L;
+
         return this;
       }
 
@@ -639,6 +865,13 @@ public final class CameraCommand {
         result.type_ = type_;
         result.codec_ = codec_;
         result.isKeyFrame_ = isKeyFrame_;
+        result.captureUtcNs_ = captureUtcNs_;
+        result.sourceSequence_ = sourceSequence_;
+        result.pts_ = pts_;
+        result.dts_ = dts_;
+        result.sourceFps_ = sourceFps_;
+        result.sourceTimestamp_ = sourceTimestamp_;
+        result.sourceFrameNumber_ = sourceFrameNumber_;
         onBuilt();
         return result;
       }
@@ -706,6 +939,27 @@ public final class CameraCommand {
         if (other.getIsKeyFrame() != false) {
           setIsKeyFrame(other.getIsKeyFrame());
         }
+        if (other.getCaptureUtcNs() != 0L) {
+          setCaptureUtcNs(other.getCaptureUtcNs());
+        }
+        if (other.getSourceSequence() != 0L) {
+          setSourceSequence(other.getSourceSequence());
+        }
+        if (other.getPts() != 0L) {
+          setPts(other.getPts());
+        }
+        if (other.getDts() != 0L) {
+          setDts(other.getDts());
+        }
+        if (other.getSourceFps() != 0) {
+          setSourceFps(other.getSourceFps());
+        }
+        if (other.getSourceTimestamp() != 0L) {
+          setSourceTimestamp(other.getSourceTimestamp());
+        }
+        if (other.getSourceFrameNumber() != 0L) {
+          setSourceFrameNumber(other.getSourceFrameNumber());
+        }
         this.mergeUnknownFields(other.getUnknownFields());
         onChanged();
         return this;
@@ -762,6 +1016,41 @@ public final class CameraCommand {
 
                 break;
               } // case 48
+              case 56: {
+                captureUtcNs_ = input.readInt64();
+
+                break;
+              } // case 56
+              case 64: {
+                sourceSequence_ = input.readUInt64();
+
+                break;
+              } // case 64
+              case 72: {
+                pts_ = input.readInt64();
+
+                break;
+              } // case 72
+              case 80: {
+                dts_ = input.readInt64();
+
+                break;
+              } // case 80
+              case 88: {
+                sourceFps_ = input.readUInt32();
+
+                break;
+              } // case 88
+              case 96: {
+                sourceTimestamp_ = input.readUInt64();
+
+                break;
+              } // case 96
+              case 104: {
+                sourceFrameNumber_ = input.readUInt64();
+
+                break;
+              } // case 104
               default: {
                 if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                   done = true; // was an endgroup tag
@@ -1034,6 +1323,238 @@ public final class CameraCommand {
         onChanged();
         return this;
       }
+
+      private long captureUtcNs_ ;
+      /**
+       * 
+       * Optional capture and source metadata. Fields 1-6 remain wire-compatible
+       * with existing clients; older clients safely ignore these additions.
+       * 

+       *
+       * int64 capture_utc_ns = 7;
+       * @return The captureUtcNs.
+       */
+      @java.lang.Override
+      public long getCaptureUtcNs() {
+        return captureUtcNs_;
+      }
+      /**
+       * 
+       * Optional capture and source metadata. Fields 1-6 remain wire-compatible
+       * with existing clients; older clients safely ignore these additions.
+       * 

+       *
+       * int64 capture_utc_ns = 7;
+       * @param value The captureUtcNs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCaptureUtcNs(long value) {
+        
+        captureUtcNs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * Optional capture and source metadata. Fields 1-6 remain wire-compatible
+       * with existing clients; older clients safely ignore these additions.
+       * 

+       *
+       * int64 capture_utc_ns = 7;
+       * @return This builder for chaining.
+       */
+      public Builder clearCaptureUtcNs() {
+        
+        captureUtcNs_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private long sourceSequence_ ;
+      /**
+       * uint64 source_sequence = 8;
+       * @return The sourceSequence.
+       */
+      @java.lang.Override
+      public long getSourceSequence() {
+        return sourceSequence_;
+      }
+      /**
+       * uint64 source_sequence = 8;
+       * @param value The sourceSequence to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSourceSequence(long value) {
+        
+        sourceSequence_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 source_sequence = 8;
+       * @return This builder for chaining.
+       */
+      public Builder clearSourceSequence() {
+        
+        sourceSequence_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private long pts_ ;
+      /**
+       * int64 pts = 9;
+       * @return The pts.
+       */
+      @java.lang.Override
+      public long getPts() {
+        return pts_;
+      }
+      /**
+       * int64 pts = 9;
+       * @param value The pts to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPts(long value) {
+        
+        pts_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * int64 pts = 9;
+       * @return This builder for chaining.
+       */
+      public Builder clearPts() {
+        
+        pts_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private long dts_ ;
+      /**
+       * int64 dts = 10;
+       * @return The dts.
+       */
+      @java.lang.Override
+      public long getDts() {
+        return dts_;
+      }
+      /**
+       * int64 dts = 10;
+       * @param value The dts to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDts(long value) {
+        
+        dts_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * int64 dts = 10;
+       * @return This builder for chaining.
+       */
+      public Builder clearDts() {
+        
+        dts_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private int sourceFps_ ;
+      /**
+       * uint32 source_fps = 11;
+       * @return The sourceFps.
+       */
+      @java.lang.Override
+      public int getSourceFps() {
+        return sourceFps_;
+      }
+      /**
+       * uint32 source_fps = 11;
+       * @param value The sourceFps to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSourceFps(int value) {
+        
+        sourceFps_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint32 source_fps = 11;
+       * @return This builder for chaining.
+       */
+      public Builder clearSourceFps() {
+        
+        sourceFps_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private long sourceTimestamp_ ;
+      /**
+       * uint64 source_timestamp = 12;
+       * @return The sourceTimestamp.
+       */
+      @java.lang.Override
+      public long getSourceTimestamp() {
+        return sourceTimestamp_;
+      }
+      /**
+       * uint64 source_timestamp = 12;
+       * @param value The sourceTimestamp to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSourceTimestamp(long value) {
+        
+        sourceTimestamp_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 source_timestamp = 12;
+       * @return This builder for chaining.
+       */
+      public Builder clearSourceTimestamp() {
+        
+        sourceTimestamp_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private long sourceFrameNumber_ ;
+      /**
+       * uint64 source_frame_number = 13;
+       * @return The sourceFrameNumber.
+       */
+      @java.lang.Override
+      public long getSourceFrameNumber() {
+        return sourceFrameNumber_;
+      }
+      /**
+       * uint64 source_frame_number = 13;
+       * @param value The sourceFrameNumber to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSourceFrameNumber(long value) {
+        
+        sourceFrameNumber_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 source_frame_number = 13;
+       * @return This builder for chaining.
+       */
+      public Builder clearSourceFrameNumber() {
+        
+        sourceFrameNumber_ = 0L;
+        onChanged();
+        return this;
+      }
       @java.lang.Override
       public final Builder setUnknownFields(
           final com.google.protobuf.UnknownFieldSet unknownFields) {
@@ -1098,8 +1619,8 @@ public final class CameraCommand {
 
   }
 
-  public interface Rs2IntrinsicsOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:cmvr.api.Rs2Intrinsics)
+  public interface CameraIntrinsicsOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.CameraIntrinsics)
       com.google.protobuf.MessageOrBuilder {
 
     /**
@@ -1172,18 +1693,18 @@ public final class CameraCommand {
     float getCoeffs(int index);
   }
   /**
-   * Protobuf type {@code cmvr.api.Rs2Intrinsics}
+   * Protobuf type {@code cmvr.api.CameraIntrinsics}
    */
-  public static final class Rs2Intrinsics extends
+  public static final class CameraIntrinsics extends
       com.google.protobuf.GeneratedMessageV3 implements
-      // @@protoc_insertion_point(message_implements:cmvr.api.Rs2Intrinsics)
-      Rs2IntrinsicsOrBuilder {
+      // @@protoc_insertion_point(message_implements:cmvr.api.CameraIntrinsics)
+      CameraIntrinsicsOrBuilder {
   private static final long serialVersionUID = 0L;
-    // Use Rs2Intrinsics.newBuilder() to construct.
-    private Rs2Intrinsics(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+    // Use CameraIntrinsics.newBuilder() to construct.
+    private CameraIntrinsics(com.google.protobuf.GeneratedMessageV3.Builder builder) {
       super(builder);
     }
-    private Rs2Intrinsics() {
+    private CameraIntrinsics() {
       coeffs_ = emptyFloatList();
     }
 
@@ -1191,7 +1712,7 @@ public final class CameraCommand {
     @SuppressWarnings({"unused"})
     protected java.lang.Object newInstance(
         UnusedPrivateParameter unused) {
-      return new Rs2Intrinsics();
+      return new CameraIntrinsics();
     }
 
     @java.lang.Override
@@ -1201,15 +1722,15 @@ public final class CameraCommand {
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.api.CameraCommand.internal_static_cmvr_api_Rs2Intrinsics_descriptor;
+      return cmvr.api.CameraCommand.internal_static_cmvr_api_CameraIntrinsics_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.api.CameraCommand.internal_static_cmvr_api_Rs2Intrinsics_fieldAccessorTable
+      return cmvr.api.CameraCommand.internal_static_cmvr_api_CameraIntrinsics_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.api.CameraCommand.Rs2Intrinsics.class, cmvr.api.CameraCommand.Rs2Intrinsics.Builder.class);
+              cmvr.api.CameraCommand.CameraIntrinsics.class, cmvr.api.CameraCommand.CameraIntrinsics.Builder.class);
     }
 
     public static final int CX_FIELD_NUMBER = 1;
@@ -1392,10 +1913,10 @@ public final class CameraCommand {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.api.CameraCommand.Rs2Intrinsics)) {
+      if (!(obj instanceof cmvr.api.CameraCommand.CameraIntrinsics)) {
         return super.equals(obj);
       }
-      cmvr.api.CameraCommand.Rs2Intrinsics other = (cmvr.api.CameraCommand.Rs2Intrinsics) obj;
+      cmvr.api.CameraCommand.CameraIntrinsics other = (cmvr.api.CameraCommand.CameraIntrinsics) obj;
 
       if (java.lang.Float.floatToIntBits(getCx())
           != java.lang.Float.floatToIntBits(
@@ -1443,69 +1964,69 @@ public final class CameraCommand {
       return hash;
     }
 
-    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+    public static cmvr.api.CameraCommand.CameraIntrinsics parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+    public static cmvr.api.CameraCommand.CameraIntrinsics parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+    public static cmvr.api.CameraCommand.CameraIntrinsics parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+    public static cmvr.api.CameraCommand.CameraIntrinsics parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(byte[] data)
+    public static cmvr.api.CameraCommand.CameraIntrinsics parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+    public static cmvr.api.CameraCommand.CameraIntrinsics parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(java.io.InputStream input)
+    public static cmvr.api.CameraCommand.CameraIntrinsics parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+    public static cmvr.api.CameraCommand.CameraIntrinsics parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.api.CameraCommand.Rs2Intrinsics parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.api.CameraCommand.CameraIntrinsics parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.api.CameraCommand.Rs2Intrinsics parseDelimitedFrom(
+    public static cmvr.api.CameraCommand.CameraIntrinsics parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+    public static cmvr.api.CameraCommand.CameraIntrinsics parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.api.CameraCommand.Rs2Intrinsics parseFrom(
+    public static cmvr.api.CameraCommand.CameraIntrinsics parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -1518,7 +2039,7 @@ public final class CameraCommand {
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.api.CameraCommand.Rs2Intrinsics prototype) {
+    public static Builder newBuilder(cmvr.api.CameraCommand.CameraIntrinsics prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -1534,26 +2055,26 @@ public final class CameraCommand {
       return builder;
     }
     /**
-     * Protobuf type {@code cmvr.api.Rs2Intrinsics}
+     * Protobuf type {@code cmvr.api.CameraIntrinsics}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
-        // @@protoc_insertion_point(builder_implements:cmvr.api.Rs2Intrinsics)
-        cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder {
+        // @@protoc_insertion_point(builder_implements:cmvr.api.CameraIntrinsics)
+        cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.api.CameraCommand.internal_static_cmvr_api_Rs2Intrinsics_descriptor;
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_CameraIntrinsics_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.api.CameraCommand.internal_static_cmvr_api_Rs2Intrinsics_fieldAccessorTable
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_CameraIntrinsics_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.api.CameraCommand.Rs2Intrinsics.class, cmvr.api.CameraCommand.Rs2Intrinsics.Builder.class);
+                cmvr.api.CameraCommand.CameraIntrinsics.class, cmvr.api.CameraCommand.CameraIntrinsics.Builder.class);
       }
 
-      // Construct using cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder()
+      // Construct using cmvr.api.CameraCommand.CameraIntrinsics.newBuilder()
       private Builder() {
 
       }
@@ -1582,17 +2103,17 @@ public final class CameraCommand {
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.api.CameraCommand.internal_static_cmvr_api_Rs2Intrinsics_descriptor;
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_CameraIntrinsics_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2Intrinsics getDefaultInstanceForType() {
-        return cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance();
+      public cmvr.api.CameraCommand.CameraIntrinsics getDefaultInstanceForType() {
+        return cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2Intrinsics build() {
-        cmvr.api.CameraCommand.Rs2Intrinsics result = buildPartial();
+      public cmvr.api.CameraCommand.CameraIntrinsics build() {
+        cmvr.api.CameraCommand.CameraIntrinsics result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -1600,8 +2121,8 @@ public final class CameraCommand {
       }
 
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2Intrinsics buildPartial() {
-        cmvr.api.CameraCommand.Rs2Intrinsics result = new cmvr.api.CameraCommand.Rs2Intrinsics(this);
+      public cmvr.api.CameraCommand.CameraIntrinsics buildPartial() {
+        cmvr.api.CameraCommand.CameraIntrinsics result = new cmvr.api.CameraCommand.CameraIntrinsics(this);
         int from_bitField0_ = bitField0_;
         result.cx_ = cx_;
         result.cy_ = cy_;
@@ -1650,16 +2171,16 @@ public final class CameraCommand {
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.api.CameraCommand.Rs2Intrinsics) {
-          return mergeFrom((cmvr.api.CameraCommand.Rs2Intrinsics)other);
+        if (other instanceof cmvr.api.CameraCommand.CameraIntrinsics) {
+          return mergeFrom((cmvr.api.CameraCommand.CameraIntrinsics)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.api.CameraCommand.Rs2Intrinsics other) {
-        if (other == cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.api.CameraCommand.CameraIntrinsics other) {
+        if (other == cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance()) return this;
         if (other.getCx() != 0F) {
           setCx(other.getCx());
         }
@@ -2052,23 +2573,23 @@ public final class CameraCommand {
       }
 
 
-      // @@protoc_insertion_point(builder_scope:cmvr.api.Rs2Intrinsics)
+      // @@protoc_insertion_point(builder_scope:cmvr.api.CameraIntrinsics)
     }
 
-    // @@protoc_insertion_point(class_scope:cmvr.api.Rs2Intrinsics)
-    private static final cmvr.api.CameraCommand.Rs2Intrinsics DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:cmvr.api.CameraIntrinsics)
+    private static final cmvr.api.CameraCommand.CameraIntrinsics DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.api.CameraCommand.Rs2Intrinsics();
+      DEFAULT_INSTANCE = new cmvr.api.CameraCommand.CameraIntrinsics();
     }
 
-    public static cmvr.api.CameraCommand.Rs2Intrinsics getDefaultInstance() {
+    public static cmvr.api.CameraCommand.CameraIntrinsics getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static final com.google.protobuf.Parser
-        PARSER = new com.google.protobuf.AbstractParser() {
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
       @java.lang.Override
-      public Rs2Intrinsics parsePartialFrom(
+      public CameraIntrinsics parsePartialFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws com.google.protobuf.InvalidProtocolBufferException {
@@ -2087,17 +2608,17 @@ public final class CameraCommand {
       }
     };
 
-    public static com.google.protobuf.Parser parser() {
+    public static com.google.protobuf.Parser parser() {
       return PARSER;
     }
 
     @java.lang.Override
-    public com.google.protobuf.Parser getParserForType() {
+    public com.google.protobuf.Parser getParserForType() {
       return PARSER;
     }
 
     @java.lang.Override
-    public cmvr.api.CameraCommand.Rs2Intrinsics getDefaultInstanceForType() {
+    public cmvr.api.CameraCommand.CameraIntrinsics getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -8872,19 +9393,19 @@ public final class CameraCommand {
       cmvr.api.CameraCommand.FrameDataOrBuilder getColorFrameOrBuilder();
 
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return Whether the intrinsics field is set.
        */
       boolean hasIntrinsics();
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return The intrinsics.
        */
-      cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics();
+      cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics();
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        */
-      cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder();
+      cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder();
     }
     /**
      * Protobuf type {@code cmvr.api.GetRGBImageCommand.Feedback}
@@ -8979,9 +9500,9 @@ public final class CameraCommand {
       }
 
       public static final int INTRINSICS_FIELD_NUMBER = 3;
-      private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+      private cmvr.api.CameraCommand.CameraIntrinsics intrinsics_;
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return Whether the intrinsics field is set.
        */
       @java.lang.Override
@@ -8989,18 +9510,18 @@ public final class CameraCommand {
         return intrinsics_ != null;
       }
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return The intrinsics.
        */
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
-        return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+      public cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics() {
+        return intrinsics_ == null ? cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
       }
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        */
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+      public cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder() {
         return getIntrinsics();
       }
 
@@ -9646,31 +10167,31 @@ public final class CameraCommand {
           return colorFrameBuilder_;
         }
 
-        private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+        private cmvr.api.CameraCommand.CameraIntrinsics intrinsics_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> intrinsicsBuilder_;
+            cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder> intrinsicsBuilder_;
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          * @return Whether the intrinsics field is set.
          */
         public boolean hasIntrinsics() {
           return intrinsicsBuilder_ != null || intrinsics_ != null;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          * @return The intrinsics.
          */
-        public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+        public cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics() {
           if (intrinsicsBuilder_ == null) {
-            return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+            return intrinsics_ == null ? cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
           } else {
             return intrinsicsBuilder_.getMessage();
           }
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public Builder setIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+        public Builder setIntrinsics(cmvr.api.CameraCommand.CameraIntrinsics value) {
           if (intrinsicsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -9684,10 +10205,10 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
         public Builder setIntrinsics(
-            cmvr.api.CameraCommand.Rs2Intrinsics.Builder builderForValue) {
+            cmvr.api.CameraCommand.CameraIntrinsics.Builder builderForValue) {
           if (intrinsicsBuilder_ == null) {
             intrinsics_ = builderForValue.build();
             onChanged();
@@ -9698,13 +10219,13 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public Builder mergeIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+        public Builder mergeIntrinsics(cmvr.api.CameraCommand.CameraIntrinsics value) {
           if (intrinsicsBuilder_ == null) {
             if (intrinsics_ != null) {
               intrinsics_ =
-                cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
+                cmvr.api.CameraCommand.CameraIntrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
             } else {
               intrinsics_ = value;
             }
@@ -9716,7 +10237,7 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
         public Builder clearIntrinsics() {
           if (intrinsicsBuilder_ == null) {
@@ -9730,33 +10251,33 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public cmvr.api.CameraCommand.Rs2Intrinsics.Builder getIntrinsicsBuilder() {
+        public cmvr.api.CameraCommand.CameraIntrinsics.Builder getIntrinsicsBuilder() {
           
           onChanged();
           return getIntrinsicsFieldBuilder().getBuilder();
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+        public cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder() {
           if (intrinsicsBuilder_ != null) {
             return intrinsicsBuilder_.getMessageOrBuilder();
           } else {
             return intrinsics_ == null ?
-                cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+                cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
           }
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> 
+            cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder> 
             getIntrinsicsFieldBuilder() {
           if (intrinsicsBuilder_ == null) {
             intrinsicsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder>(
+                cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder>(
                     getIntrinsics(),
                     getParentForChildren(),
                     isClean());
@@ -10860,19 +11381,19 @@ public final class CameraCommand {
       cmvr.api.CameraCommand.FrameDataOrBuilder getDepthFrameOrBuilder();
 
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return Whether the intrinsics field is set.
        */
       boolean hasIntrinsics();
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return The intrinsics.
        */
-      cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics();
+      cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics();
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        */
-      cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder();
+      cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder();
     }
     /**
      * Protobuf type {@code cmvr.api.GetDepthImageCommand.Feedback}
@@ -10967,9 +11488,9 @@ public final class CameraCommand {
       }
 
       public static final int INTRINSICS_FIELD_NUMBER = 3;
-      private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+      private cmvr.api.CameraCommand.CameraIntrinsics intrinsics_;
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return Whether the intrinsics field is set.
        */
       @java.lang.Override
@@ -10977,18 +11498,18 @@ public final class CameraCommand {
         return intrinsics_ != null;
       }
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return The intrinsics.
        */
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
-        return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+      public cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics() {
+        return intrinsics_ == null ? cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
       }
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        */
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+      public cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder() {
         return getIntrinsics();
       }
 
@@ -11634,31 +12155,31 @@ public final class CameraCommand {
           return depthFrameBuilder_;
         }
 
-        private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+        private cmvr.api.CameraCommand.CameraIntrinsics intrinsics_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> intrinsicsBuilder_;
+            cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder> intrinsicsBuilder_;
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          * @return Whether the intrinsics field is set.
          */
         public boolean hasIntrinsics() {
           return intrinsicsBuilder_ != null || intrinsics_ != null;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          * @return The intrinsics.
          */
-        public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+        public cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics() {
           if (intrinsicsBuilder_ == null) {
-            return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+            return intrinsics_ == null ? cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
           } else {
             return intrinsicsBuilder_.getMessage();
           }
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public Builder setIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+        public Builder setIntrinsics(cmvr.api.CameraCommand.CameraIntrinsics value) {
           if (intrinsicsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -11672,10 +12193,10 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
         public Builder setIntrinsics(
-            cmvr.api.CameraCommand.Rs2Intrinsics.Builder builderForValue) {
+            cmvr.api.CameraCommand.CameraIntrinsics.Builder builderForValue) {
           if (intrinsicsBuilder_ == null) {
             intrinsics_ = builderForValue.build();
             onChanged();
@@ -11686,13 +12207,13 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public Builder mergeIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+        public Builder mergeIntrinsics(cmvr.api.CameraCommand.CameraIntrinsics value) {
           if (intrinsicsBuilder_ == null) {
             if (intrinsics_ != null) {
               intrinsics_ =
-                cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
+                cmvr.api.CameraCommand.CameraIntrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
             } else {
               intrinsics_ = value;
             }
@@ -11704,7 +12225,7 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
         public Builder clearIntrinsics() {
           if (intrinsicsBuilder_ == null) {
@@ -11718,33 +12239,33 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public cmvr.api.CameraCommand.Rs2Intrinsics.Builder getIntrinsicsBuilder() {
+        public cmvr.api.CameraCommand.CameraIntrinsics.Builder getIntrinsicsBuilder() {
           
           onChanged();
           return getIntrinsicsFieldBuilder().getBuilder();
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+        public cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder() {
           if (intrinsicsBuilder_ != null) {
             return intrinsicsBuilder_.getMessageOrBuilder();
           } else {
             return intrinsics_ == null ?
-                cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+                cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
           }
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> 
+            cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder> 
             getIntrinsicsFieldBuilder() {
           if (intrinsicsBuilder_ == null) {
             intrinsicsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder>(
+                cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder>(
                     getIntrinsics(),
                     getParentForChildren(),
                     isClean());
@@ -12863,19 +13384,19 @@ public final class CameraCommand {
       cmvr.api.CameraCommand.FrameDataOrBuilder getDepthFrameOrBuilder();
 
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+       * .cmvr.api.CameraIntrinsics intrinsics = 4;
        * @return Whether the intrinsics field is set.
        */
       boolean hasIntrinsics();
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+       * .cmvr.api.CameraIntrinsics intrinsics = 4;
        * @return The intrinsics.
        */
-      cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics();
+      cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics();
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+       * .cmvr.api.CameraIntrinsics intrinsics = 4;
        */
-      cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder();
+      cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder();
     }
     /**
      * Protobuf type {@code cmvr.api.GetRGBDImagesCommand.Feedback}
@@ -12996,9 +13517,9 @@ public final class CameraCommand {
       }
 
       public static final int INTRINSICS_FIELD_NUMBER = 4;
-      private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+      private cmvr.api.CameraCommand.CameraIntrinsics intrinsics_;
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+       * .cmvr.api.CameraIntrinsics intrinsics = 4;
        * @return Whether the intrinsics field is set.
        */
       @java.lang.Override
@@ -13006,18 +13527,18 @@ public final class CameraCommand {
         return intrinsics_ != null;
       }
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+       * .cmvr.api.CameraIntrinsics intrinsics = 4;
        * @return The intrinsics.
        */
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
-        return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+      public cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics() {
+        return intrinsics_ == null ? cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
       }
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+       * .cmvr.api.CameraIntrinsics intrinsics = 4;
        */
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+      public cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder() {
         return getIntrinsics();
       }
 
@@ -13819,31 +14340,31 @@ public final class CameraCommand {
           return depthFrameBuilder_;
         }
 
-        private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+        private cmvr.api.CameraCommand.CameraIntrinsics intrinsics_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> intrinsicsBuilder_;
+            cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder> intrinsicsBuilder_;
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          * @return Whether the intrinsics field is set.
          */
         public boolean hasIntrinsics() {
           return intrinsicsBuilder_ != null || intrinsics_ != null;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          * @return The intrinsics.
          */
-        public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+        public cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics() {
           if (intrinsicsBuilder_ == null) {
-            return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+            return intrinsics_ == null ? cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
           } else {
             return intrinsicsBuilder_.getMessage();
           }
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
-        public Builder setIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+        public Builder setIntrinsics(cmvr.api.CameraCommand.CameraIntrinsics value) {
           if (intrinsicsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -13857,10 +14378,10 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
         public Builder setIntrinsics(
-            cmvr.api.CameraCommand.Rs2Intrinsics.Builder builderForValue) {
+            cmvr.api.CameraCommand.CameraIntrinsics.Builder builderForValue) {
           if (intrinsicsBuilder_ == null) {
             intrinsics_ = builderForValue.build();
             onChanged();
@@ -13871,13 +14392,13 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
-        public Builder mergeIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+        public Builder mergeIntrinsics(cmvr.api.CameraCommand.CameraIntrinsics value) {
           if (intrinsicsBuilder_ == null) {
             if (intrinsics_ != null) {
               intrinsics_ =
-                cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
+                cmvr.api.CameraCommand.CameraIntrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
             } else {
               intrinsics_ = value;
             }
@@ -13889,7 +14410,7 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
         public Builder clearIntrinsics() {
           if (intrinsicsBuilder_ == null) {
@@ -13903,33 +14424,33 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
-        public cmvr.api.CameraCommand.Rs2Intrinsics.Builder getIntrinsicsBuilder() {
+        public cmvr.api.CameraCommand.CameraIntrinsics.Builder getIntrinsicsBuilder() {
           
           onChanged();
           return getIntrinsicsFieldBuilder().getBuilder();
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
-        public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+        public cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder() {
           if (intrinsicsBuilder_ != null) {
             return intrinsicsBuilder_.getMessageOrBuilder();
           } else {
             return intrinsics_ == null ?
-                cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+                cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
           }
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> 
+            cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder> 
             getIntrinsicsFieldBuilder() {
           if (intrinsicsBuilder_ == null) {
             intrinsicsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder>(
+                cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder>(
                     getIntrinsics(),
                     getParentForChildren(),
                     isClean());
@@ -17694,6 +18215,2188 @@ public final class CameraCommand {
 
   }
 
+  public interface ControlPtzCommandOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.ControlPtzCommand)
+      com.google.protobuf.MessageOrBuilder {
+  }
+  /**
+   * Protobuf type {@code cmvr.api.ControlPtzCommand}
+   */
+  public static final class ControlPtzCommand extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.ControlPtzCommand)
+      ControlPtzCommandOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use ControlPtzCommand.newBuilder() to construct.
+    private ControlPtzCommand(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private ControlPtzCommand() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new ControlPtzCommand();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.CameraCommand.ControlPtzCommand.class, cmvr.api.CameraCommand.ControlPtzCommand.Builder.class);
+    }
+
+    /**
+     * Protobuf enum {@code cmvr.api.ControlPtzCommand.Command}
+     */
+    public enum Command
+        implements com.google.protobuf.ProtocolMessageEnum {
+      /**
+       * COMMAND_UNSPECIFIED = 0;
+       */
+      COMMAND_UNSPECIFIED(0),
+      /**
+       * TILT_UP = 1;
+       */
+      TILT_UP(1),
+      /**
+       * TILT_DOWN = 2;
+       */
+      TILT_DOWN(2),
+      /**
+       * PAN_LEFT = 3;
+       */
+      PAN_LEFT(3),
+      /**
+       * PAN_RIGHT = 4;
+       */
+      PAN_RIGHT(4),
+      /**
+       * UP_LEFT = 5;
+       */
+      UP_LEFT(5),
+      /**
+       * UP_RIGHT = 6;
+       */
+      UP_RIGHT(6),
+      /**
+       * DOWN_LEFT = 7;
+       */
+      DOWN_LEFT(7),
+      /**
+       * DOWN_RIGHT = 8;
+       */
+      DOWN_RIGHT(8),
+      /**
+       * ZOOM_IN = 9;
+       */
+      ZOOM_IN(9),
+      /**
+       * ZOOM_OUT = 10;
+       */
+      ZOOM_OUT(10),
+      /**
+       * PAN_AUTO = 11;
+       */
+      PAN_AUTO(11),
+      UNRECOGNIZED(-1),
+      ;
+
+      /**
+       * COMMAND_UNSPECIFIED = 0;
+       */
+      public static final int COMMAND_UNSPECIFIED_VALUE = 0;
+      /**
+       * TILT_UP = 1;
+       */
+      public static final int TILT_UP_VALUE = 1;
+      /**
+       * TILT_DOWN = 2;
+       */
+      public static final int TILT_DOWN_VALUE = 2;
+      /**
+       * PAN_LEFT = 3;
+       */
+      public static final int PAN_LEFT_VALUE = 3;
+      /**
+       * PAN_RIGHT = 4;
+       */
+      public static final int PAN_RIGHT_VALUE = 4;
+      /**
+       * UP_LEFT = 5;
+       */
+      public static final int UP_LEFT_VALUE = 5;
+      /**
+       * UP_RIGHT = 6;
+       */
+      public static final int UP_RIGHT_VALUE = 6;
+      /**
+       * DOWN_LEFT = 7;
+       */
+      public static final int DOWN_LEFT_VALUE = 7;
+      /**
+       * DOWN_RIGHT = 8;
+       */
+      public static final int DOWN_RIGHT_VALUE = 8;
+      /**
+       * ZOOM_IN = 9;
+       */
+      public static final int ZOOM_IN_VALUE = 9;
+      /**
+       * ZOOM_OUT = 10;
+       */
+      public static final int ZOOM_OUT_VALUE = 10;
+      /**
+       * PAN_AUTO = 11;
+       */
+      public static final int PAN_AUTO_VALUE = 11;
+
+
+      public final int getNumber() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalArgumentException(
+              "Can't get the number of an unknown enum value.");
+        }
+        return value;
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static Command valueOf(int value) {
+        return forNumber(value);
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       */
+      public static Command forNumber(int value) {
+        switch (value) {
+          case 0: return COMMAND_UNSPECIFIED;
+          case 1: return TILT_UP;
+          case 2: return TILT_DOWN;
+          case 3: return PAN_LEFT;
+          case 4: return PAN_RIGHT;
+          case 5: return UP_LEFT;
+          case 6: return UP_RIGHT;
+          case 7: return DOWN_LEFT;
+          case 8: return DOWN_RIGHT;
+          case 9: return ZOOM_IN;
+          case 10: return ZOOM_OUT;
+          case 11: return PAN_AUTO;
+          default: return null;
+        }
+      }
+
+      public static com.google.protobuf.Internal.EnumLiteMap
+          internalGetValueMap() {
+        return internalValueMap;
+      }
+      private static final com.google.protobuf.Internal.EnumLiteMap<
+          Command> internalValueMap =
+            new com.google.protobuf.Internal.EnumLiteMap() {
+              public Command findValueByNumber(int number) {
+                return Command.forNumber(number);
+              }
+            };
+
+      public final com.google.protobuf.Descriptors.EnumValueDescriptor
+          getValueDescriptor() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalStateException(
+              "Can't get the descriptor of an unrecognized enum value.");
+        }
+        return getDescriptor().getValues().get(ordinal());
+      }
+      public final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptorForType() {
+        return getDescriptor();
+      }
+      public static final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptor() {
+        return cmvr.api.CameraCommand.ControlPtzCommand.getDescriptor().getEnumTypes().get(0);
+      }
+
+      private static final Command[] VALUES = values();
+
+      public static Command valueOf(
+          com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+        if (desc.getType() != getDescriptor()) {
+          throw new java.lang.IllegalArgumentException(
+            "EnumValueDescriptor is not for this type.");
+        }
+        if (desc.getIndex() == -1) {
+          return UNRECOGNIZED;
+        }
+        return VALUES[desc.getIndex()];
+      }
+
+      private final int value;
+
+      private Command(int value) {
+        this.value = value;
+      }
+
+      // @@protoc_insertion_point(enum_scope:cmvr.api.ControlPtzCommand.Command)
+    }
+
+    /**
+     * Protobuf enum {@code cmvr.api.ControlPtzCommand.Action}
+     */
+    public enum Action
+        implements com.google.protobuf.ProtocolMessageEnum {
+      /**
+       * START = 0;
+       */
+      START(0),
+      /**
+       * STOP = 1;
+       */
+      STOP(1),
+      UNRECOGNIZED(-1),
+      ;
+
+      /**
+       * START = 0;
+       */
+      public static final int START_VALUE = 0;
+      /**
+       * STOP = 1;
+       */
+      public static final int STOP_VALUE = 1;
+
+
+      public final int getNumber() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalArgumentException(
+              "Can't get the number of an unknown enum value.");
+        }
+        return value;
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static Action valueOf(int value) {
+        return forNumber(value);
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       */
+      public static Action forNumber(int value) {
+        switch (value) {
+          case 0: return START;
+          case 1: return STOP;
+          default: return null;
+        }
+      }
+
+      public static com.google.protobuf.Internal.EnumLiteMap
+          internalGetValueMap() {
+        return internalValueMap;
+      }
+      private static final com.google.protobuf.Internal.EnumLiteMap<
+          Action> internalValueMap =
+            new com.google.protobuf.Internal.EnumLiteMap() {
+              public Action findValueByNumber(int number) {
+                return Action.forNumber(number);
+              }
+            };
+
+      public final com.google.protobuf.Descriptors.EnumValueDescriptor
+          getValueDescriptor() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalStateException(
+              "Can't get the descriptor of an unrecognized enum value.");
+        }
+        return getDescriptor().getValues().get(ordinal());
+      }
+      public final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptorForType() {
+        return getDescriptor();
+      }
+      public static final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptor() {
+        return cmvr.api.CameraCommand.ControlPtzCommand.getDescriptor().getEnumTypes().get(1);
+      }
+
+      private static final Action[] VALUES = values();
+
+      public static Action valueOf(
+          com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+        if (desc.getType() != getDescriptor()) {
+          throw new java.lang.IllegalArgumentException(
+            "EnumValueDescriptor is not for this type.");
+        }
+        if (desc.getIndex() == -1) {
+          return UNRECOGNIZED;
+        }
+        return VALUES[desc.getIndex()];
+      }
+
+      private final int value;
+
+      private Action(int value) {
+        this.value = value;
+      }
+
+      // @@protoc_insertion_point(enum_scope:cmvr.api.ControlPtzCommand.Action)
+    }
+
+    public interface RequestOrBuilder extends
+        // @@protoc_insertion_point(interface_extends:cmvr.api.ControlPtzCommand.Request)
+        com.google.protobuf.MessageOrBuilder {
+
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       * @return Whether the header field is set.
+       */
+      boolean hasHeader();
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       * @return The header.
+       */
+      cmvr.api.Common.CommandHeader.Request getHeader();
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       */
+      cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder();
+
+      /**
+       * .cmvr.api.ControlPtzCommand.Command command = 2;
+       * @return The enum numeric value on the wire for command.
+       */
+      int getCommandValue();
+      /**
+       * .cmvr.api.ControlPtzCommand.Command command = 2;
+       * @return The command.
+       */
+      cmvr.api.CameraCommand.ControlPtzCommand.Command getCommand();
+
+      /**
+       * .cmvr.api.ControlPtzCommand.Action action = 3;
+       * @return The enum numeric value on the wire for action.
+       */
+      int getActionValue();
+      /**
+       * .cmvr.api.ControlPtzCommand.Action action = 3;
+       * @return The action.
+       */
+      cmvr.api.CameraCommand.ControlPtzCommand.Action getAction();
+
+      /**
+       * uint32 speed = 4;
+       * @return The speed.
+       */
+      int getSpeed();
+    }
+    /**
+     * Protobuf type {@code cmvr.api.ControlPtzCommand.Request}
+     */
+    public static final class Request extends
+        com.google.protobuf.GeneratedMessageV3 implements
+        // @@protoc_insertion_point(message_implements:cmvr.api.ControlPtzCommand.Request)
+        RequestOrBuilder {
+    private static final long serialVersionUID = 0L;
+      // Use Request.newBuilder() to construct.
+      private Request(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+        super(builder);
+      }
+      private Request() {
+        command_ = 0;
+        action_ = 0;
+      }
+
+      @java.lang.Override
+      @SuppressWarnings({"unused"})
+      protected java.lang.Object newInstance(
+          UnusedPrivateParameter unused) {
+        return new Request();
+      }
+
+      @java.lang.Override
+      public final com.google.protobuf.UnknownFieldSet
+      getUnknownFields() {
+        return this.unknownFields;
+      }
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_Request_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_Request_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.CameraCommand.ControlPtzCommand.Request.class, cmvr.api.CameraCommand.ControlPtzCommand.Request.Builder.class);
+      }
+
+      public static final int HEADER_FIELD_NUMBER = 1;
+      private cmvr.api.Common.CommandHeader.Request header_;
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       * @return Whether the header field is set.
+       */
+      @java.lang.Override
+      public boolean hasHeader() {
+        return header_ != null;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       * @return The header.
+       */
+      @java.lang.Override
+      public cmvr.api.Common.CommandHeader.Request getHeader() {
+        return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       */
+      @java.lang.Override
+      public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
+        return getHeader();
+      }
+
+      public static final int COMMAND_FIELD_NUMBER = 2;
+      private int command_;
+      /**
+       * .cmvr.api.ControlPtzCommand.Command command = 2;
+       * @return The enum numeric value on the wire for command.
+       */
+      @java.lang.Override public int getCommandValue() {
+        return command_;
+      }
+      /**
+       * .cmvr.api.ControlPtzCommand.Command command = 2;
+       * @return The command.
+       */
+      @java.lang.Override public cmvr.api.CameraCommand.ControlPtzCommand.Command getCommand() {
+        @SuppressWarnings("deprecation")
+        cmvr.api.CameraCommand.ControlPtzCommand.Command result = cmvr.api.CameraCommand.ControlPtzCommand.Command.valueOf(command_);
+        return result == null ? cmvr.api.CameraCommand.ControlPtzCommand.Command.UNRECOGNIZED : result;
+      }
+
+      public static final int ACTION_FIELD_NUMBER = 3;
+      private int action_;
+      /**
+       * .cmvr.api.ControlPtzCommand.Action action = 3;
+       * @return The enum numeric value on the wire for action.
+       */
+      @java.lang.Override public int getActionValue() {
+        return action_;
+      }
+      /**
+       * .cmvr.api.ControlPtzCommand.Action action = 3;
+       * @return The action.
+       */
+      @java.lang.Override public cmvr.api.CameraCommand.ControlPtzCommand.Action getAction() {
+        @SuppressWarnings("deprecation")
+        cmvr.api.CameraCommand.ControlPtzCommand.Action result = cmvr.api.CameraCommand.ControlPtzCommand.Action.valueOf(action_);
+        return result == null ? cmvr.api.CameraCommand.ControlPtzCommand.Action.UNRECOGNIZED : result;
+      }
+
+      public static final int SPEED_FIELD_NUMBER = 4;
+      private int speed_;
+      /**
+       * uint32 speed = 4;
+       * @return The speed.
+       */
+      @java.lang.Override
+      public int getSpeed() {
+        return speed_;
+      }
+
+      private byte memoizedIsInitialized = -1;
+      @java.lang.Override
+      public final boolean isInitialized() {
+        byte isInitialized = memoizedIsInitialized;
+        if (isInitialized == 1) return true;
+        if (isInitialized == 0) return false;
+
+        memoizedIsInitialized = 1;
+        return true;
+      }
+
+      @java.lang.Override
+      public void writeTo(com.google.protobuf.CodedOutputStream output)
+                          throws java.io.IOException {
+        if (header_ != null) {
+          output.writeMessage(1, getHeader());
+        }
+        if (command_ != cmvr.api.CameraCommand.ControlPtzCommand.Command.COMMAND_UNSPECIFIED.getNumber()) {
+          output.writeEnum(2, command_);
+        }
+        if (action_ != cmvr.api.CameraCommand.ControlPtzCommand.Action.START.getNumber()) {
+          output.writeEnum(3, action_);
+        }
+        if (speed_ != 0) {
+          output.writeUInt32(4, speed_);
+        }
+        getUnknownFields().writeTo(output);
+      }
+
+      @java.lang.Override
+      public int getSerializedSize() {
+        int size = memoizedSize;
+        if (size != -1) return size;
+
+        size = 0;
+        if (header_ != null) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(1, getHeader());
+        }
+        if (command_ != cmvr.api.CameraCommand.ControlPtzCommand.Command.COMMAND_UNSPECIFIED.getNumber()) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeEnumSize(2, command_);
+        }
+        if (action_ != cmvr.api.CameraCommand.ControlPtzCommand.Action.START.getNumber()) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeEnumSize(3, action_);
+        }
+        if (speed_ != 0) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeUInt32Size(4, speed_);
+        }
+        size += getUnknownFields().getSerializedSize();
+        memoizedSize = size;
+        return size;
+      }
+
+      @java.lang.Override
+      public boolean equals(final java.lang.Object obj) {
+        if (obj == this) {
+         return true;
+        }
+        if (!(obj instanceof cmvr.api.CameraCommand.ControlPtzCommand.Request)) {
+          return super.equals(obj);
+        }
+        cmvr.api.CameraCommand.ControlPtzCommand.Request other = (cmvr.api.CameraCommand.ControlPtzCommand.Request) obj;
+
+        if (hasHeader() != other.hasHeader()) return false;
+        if (hasHeader()) {
+          if (!getHeader()
+              .equals(other.getHeader())) return false;
+        }
+        if (command_ != other.command_) return false;
+        if (action_ != other.action_) return false;
+        if (getSpeed()
+            != other.getSpeed()) return false;
+        if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+        return true;
+      }
+
+      @java.lang.Override
+      public int hashCode() {
+        if (memoizedHashCode != 0) {
+          return memoizedHashCode;
+        }
+        int hash = 41;
+        hash = (19 * hash) + getDescriptor().hashCode();
+        if (hasHeader()) {
+          hash = (37 * hash) + HEADER_FIELD_NUMBER;
+          hash = (53 * hash) + getHeader().hashCode();
+        }
+        hash = (37 * hash) + COMMAND_FIELD_NUMBER;
+        hash = (53 * hash) + command_;
+        hash = (37 * hash) + ACTION_FIELD_NUMBER;
+        hash = (53 * hash) + action_;
+        hash = (37 * hash) + SPEED_FIELD_NUMBER;
+        hash = (53 * hash) + getSpeed();
+        hash = (29 * hash) + getUnknownFields().hashCode();
+        memoizedHashCode = hash;
+        return hash;
+      }
+
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request parseFrom(
+          java.nio.ByteBuffer data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request parseFrom(
+          java.nio.ByteBuffer data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request parseFrom(
+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request parseFrom(
+          com.google.protobuf.ByteString data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request parseFrom(byte[] data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request parseFrom(
+          byte[] data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request parseFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request parseFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input, extensionRegistry);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request parseDelimitedFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseDelimitedWithIOException(PARSER, input);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request parseDelimitedFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request parseFrom(
+          com.google.protobuf.CodedInputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request parseFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input, extensionRegistry);
+      }
+
+      @java.lang.Override
+      public Builder newBuilderForType() { return newBuilder(); }
+      public static Builder newBuilder() {
+        return DEFAULT_INSTANCE.toBuilder();
+      }
+      public static Builder newBuilder(cmvr.api.CameraCommand.ControlPtzCommand.Request prototype) {
+        return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+      }
+      @java.lang.Override
+      public Builder toBuilder() {
+        return this == DEFAULT_INSTANCE
+            ? new Builder() : new Builder().mergeFrom(this);
+      }
+
+      @java.lang.Override
+      protected Builder newBuilderForType(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        Builder builder = new Builder(parent);
+        return builder;
+      }
+      /**
+       * Protobuf type {@code cmvr.api.ControlPtzCommand.Request}
+       */
+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageV3.Builder implements
+          // @@protoc_insertion_point(builder_implements:cmvr.api.ControlPtzCommand.Request)
+          cmvr.api.CameraCommand.ControlPtzCommand.RequestOrBuilder {
+        public static final com.google.protobuf.Descriptors.Descriptor
+            getDescriptor() {
+          return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_Request_descriptor;
+        }
+
+        @java.lang.Override
+        protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+            internalGetFieldAccessorTable() {
+          return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_Request_fieldAccessorTable
+              .ensureFieldAccessorsInitialized(
+                  cmvr.api.CameraCommand.ControlPtzCommand.Request.class, cmvr.api.CameraCommand.ControlPtzCommand.Request.Builder.class);
+        }
+
+        // Construct using cmvr.api.CameraCommand.ControlPtzCommand.Request.newBuilder()
+        private Builder() {
+
+        }
+
+        private Builder(
+            com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+          super(parent);
+
+        }
+        @java.lang.Override
+        public Builder clear() {
+          super.clear();
+          if (headerBuilder_ == null) {
+            header_ = null;
+          } else {
+            header_ = null;
+            headerBuilder_ = null;
+          }
+          command_ = 0;
+
+          action_ = 0;
+
+          speed_ = 0;
+
+          return this;
+        }
+
+        @java.lang.Override
+        public com.google.protobuf.Descriptors.Descriptor
+            getDescriptorForType() {
+          return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_Request_descriptor;
+        }
+
+        @java.lang.Override
+        public cmvr.api.CameraCommand.ControlPtzCommand.Request getDefaultInstanceForType() {
+          return cmvr.api.CameraCommand.ControlPtzCommand.Request.getDefaultInstance();
+        }
+
+        @java.lang.Override
+        public cmvr.api.CameraCommand.ControlPtzCommand.Request build() {
+          cmvr.api.CameraCommand.ControlPtzCommand.Request result = buildPartial();
+          if (!result.isInitialized()) {
+            throw newUninitializedMessageException(result);
+          }
+          return result;
+        }
+
+        @java.lang.Override
+        public cmvr.api.CameraCommand.ControlPtzCommand.Request buildPartial() {
+          cmvr.api.CameraCommand.ControlPtzCommand.Request result = new cmvr.api.CameraCommand.ControlPtzCommand.Request(this);
+          if (headerBuilder_ == null) {
+            result.header_ = header_;
+          } else {
+            result.header_ = headerBuilder_.build();
+          }
+          result.command_ = command_;
+          result.action_ = action_;
+          result.speed_ = speed_;
+          onBuilt();
+          return result;
+        }
+
+        @java.lang.Override
+        public Builder clone() {
+          return super.clone();
+        }
+        @java.lang.Override
+        public Builder setField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            java.lang.Object value) {
+          return super.setField(field, value);
+        }
+        @java.lang.Override
+        public Builder clearField(
+            com.google.protobuf.Descriptors.FieldDescriptor field) {
+          return super.clearField(field);
+        }
+        @java.lang.Override
+        public Builder clearOneof(
+            com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+          return super.clearOneof(oneof);
+        }
+        @java.lang.Override
+        public Builder setRepeatedField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            int index, java.lang.Object value) {
+          return super.setRepeatedField(field, index, value);
+        }
+        @java.lang.Override
+        public Builder addRepeatedField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            java.lang.Object value) {
+          return super.addRepeatedField(field, value);
+        }
+        @java.lang.Override
+        public Builder mergeFrom(com.google.protobuf.Message other) {
+          if (other instanceof cmvr.api.CameraCommand.ControlPtzCommand.Request) {
+            return mergeFrom((cmvr.api.CameraCommand.ControlPtzCommand.Request)other);
+          } else {
+            super.mergeFrom(other);
+            return this;
+          }
+        }
+
+        public Builder mergeFrom(cmvr.api.CameraCommand.ControlPtzCommand.Request other) {
+          if (other == cmvr.api.CameraCommand.ControlPtzCommand.Request.getDefaultInstance()) return this;
+          if (other.hasHeader()) {
+            mergeHeader(other.getHeader());
+          }
+          if (other.command_ != 0) {
+            setCommandValue(other.getCommandValue());
+          }
+          if (other.action_ != 0) {
+            setActionValue(other.getActionValue());
+          }
+          if (other.getSpeed() != 0) {
+            setSpeed(other.getSpeed());
+          }
+          this.mergeUnknownFields(other.getUnknownFields());
+          onChanged();
+          return this;
+        }
+
+        @java.lang.Override
+        public final boolean isInitialized() {
+          return true;
+        }
+
+        @java.lang.Override
+        public Builder mergeFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws java.io.IOException {
+          if (extensionRegistry == null) {
+            throw new java.lang.NullPointerException();
+          }
+          try {
+            boolean done = false;
+            while (!done) {
+              int tag = input.readTag();
+              switch (tag) {
+                case 0:
+                  done = true;
+                  break;
+                case 10: {
+                  input.readMessage(
+                      getHeaderFieldBuilder().getBuilder(),
+                      extensionRegistry);
+
+                  break;
+                } // case 10
+                case 16: {
+                  command_ = input.readEnum();
+
+                  break;
+                } // case 16
+                case 24: {
+                  action_ = input.readEnum();
+
+                  break;
+                } // case 24
+                case 32: {
+                  speed_ = input.readUInt32();
+
+                  break;
+                } // case 32
+                default: {
+                  if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                    done = true; // was an endgroup tag
+                  }
+                  break;
+                } // default:
+              } // switch (tag)
+            } // while (!done)
+          } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+            throw e.unwrapIOException();
+          } finally {
+            onChanged();
+          } // finally
+          return this;
+        }
+
+        private cmvr.api.Common.CommandHeader.Request header_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> headerBuilder_;
+        /**
+         * .cmvr.api.CommandHeader.Request header = 1;
+         * @return Whether the header field is set.
+         */
+        public boolean hasHeader() {
+          return headerBuilder_ != null || header_ != null;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Request header = 1;
+         * @return The header.
+         */
+        public cmvr.api.Common.CommandHeader.Request getHeader() {
+          if (headerBuilder_ == null) {
+            return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+          } else {
+            return headerBuilder_.getMessage();
+          }
+        }
+        /**
+         * .cmvr.api.CommandHeader.Request header = 1;
+         */
+        public Builder setHeader(cmvr.api.Common.CommandHeader.Request value) {
+          if (headerBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            header_ = value;
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Request header = 1;
+         */
+        public Builder setHeader(
+            cmvr.api.Common.CommandHeader.Request.Builder builderForValue) {
+          if (headerBuilder_ == null) {
+            header_ = builderForValue.build();
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Request header = 1;
+         */
+        public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
+          if (headerBuilder_ == null) {
+            if (header_ != null) {
+              header_ =
+                cmvr.api.Common.CommandHeader.Request.newBuilder(header_).mergeFrom(value).buildPartial();
+            } else {
+              header_ = value;
+            }
+            onChanged();
+          } else {
+            headerBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Request header = 1;
+         */
+        public Builder clearHeader() {
+          if (headerBuilder_ == null) {
+            header_ = null;
+            onChanged();
+          } else {
+            header_ = null;
+            headerBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Request header = 1;
+         */
+        public cmvr.api.Common.CommandHeader.Request.Builder getHeaderBuilder() {
+          
+          onChanged();
+          return getHeaderFieldBuilder().getBuilder();
+        }
+        /**
+         * .cmvr.api.CommandHeader.Request header = 1;
+         */
+        public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
+          if (headerBuilder_ != null) {
+            return headerBuilder_.getMessageOrBuilder();
+          } else {
+            return header_ == null ?
+                cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+          }
+        }
+        /**
+         * .cmvr.api.CommandHeader.Request header = 1;
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> 
+            getHeaderFieldBuilder() {
+          if (headerBuilder_ == null) {
+            headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>(
+                    getHeader(),
+                    getParentForChildren(),
+                    isClean());
+            header_ = null;
+          }
+          return headerBuilder_;
+        }
+
+        private int command_ = 0;
+        /**
+         * .cmvr.api.ControlPtzCommand.Command command = 2;
+         * @return The enum numeric value on the wire for command.
+         */
+        @java.lang.Override public int getCommandValue() {
+          return command_;
+        }
+        /**
+         * .cmvr.api.ControlPtzCommand.Command command = 2;
+         * @param value The enum numeric value on the wire for command to set.
+         * @return This builder for chaining.
+         */
+        public Builder setCommandValue(int value) {
+          
+          command_ = value;
+          onChanged();
+          return this;
+        }
+        /**
+         * .cmvr.api.ControlPtzCommand.Command command = 2;
+         * @return The command.
+         */
+        @java.lang.Override
+        public cmvr.api.CameraCommand.ControlPtzCommand.Command getCommand() {
+          @SuppressWarnings("deprecation")
+          cmvr.api.CameraCommand.ControlPtzCommand.Command result = cmvr.api.CameraCommand.ControlPtzCommand.Command.valueOf(command_);
+          return result == null ? cmvr.api.CameraCommand.ControlPtzCommand.Command.UNRECOGNIZED : result;
+        }
+        /**
+         * .cmvr.api.ControlPtzCommand.Command command = 2;
+         * @param value The command to set.
+         * @return This builder for chaining.
+         */
+        public Builder setCommand(cmvr.api.CameraCommand.ControlPtzCommand.Command value) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          
+          command_ = value.getNumber();
+          onChanged();
+          return this;
+        }
+        /**
+         * .cmvr.api.ControlPtzCommand.Command command = 2;
+         * @return This builder for chaining.
+         */
+        public Builder clearCommand() {
+          
+          command_ = 0;
+          onChanged();
+          return this;
+        }
+
+        private int action_ = 0;
+        /**
+         * .cmvr.api.ControlPtzCommand.Action action = 3;
+         * @return The enum numeric value on the wire for action.
+         */
+        @java.lang.Override public int getActionValue() {
+          return action_;
+        }
+        /**
+         * .cmvr.api.ControlPtzCommand.Action action = 3;
+         * @param value The enum numeric value on the wire for action to set.
+         * @return This builder for chaining.
+         */
+        public Builder setActionValue(int value) {
+          
+          action_ = value;
+          onChanged();
+          return this;
+        }
+        /**
+         * .cmvr.api.ControlPtzCommand.Action action = 3;
+         * @return The action.
+         */
+        @java.lang.Override
+        public cmvr.api.CameraCommand.ControlPtzCommand.Action getAction() {
+          @SuppressWarnings("deprecation")
+          cmvr.api.CameraCommand.ControlPtzCommand.Action result = cmvr.api.CameraCommand.ControlPtzCommand.Action.valueOf(action_);
+          return result == null ? cmvr.api.CameraCommand.ControlPtzCommand.Action.UNRECOGNIZED : result;
+        }
+        /**
+         * .cmvr.api.ControlPtzCommand.Action action = 3;
+         * @param value The action to set.
+         * @return This builder for chaining.
+         */
+        public Builder setAction(cmvr.api.CameraCommand.ControlPtzCommand.Action value) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          
+          action_ = value.getNumber();
+          onChanged();
+          return this;
+        }
+        /**
+         * .cmvr.api.ControlPtzCommand.Action action = 3;
+         * @return This builder for chaining.
+         */
+        public Builder clearAction() {
+          
+          action_ = 0;
+          onChanged();
+          return this;
+        }
+
+        private int speed_ ;
+        /**
+         * uint32 speed = 4;
+         * @return The speed.
+         */
+        @java.lang.Override
+        public int getSpeed() {
+          return speed_;
+        }
+        /**
+         * uint32 speed = 4;
+         * @param value The speed to set.
+         * @return This builder for chaining.
+         */
+        public Builder setSpeed(int value) {
+          
+          speed_ = value;
+          onChanged();
+          return this;
+        }
+        /**
+         * uint32 speed = 4;
+         * @return This builder for chaining.
+         */
+        public Builder clearSpeed() {
+          
+          speed_ = 0;
+          onChanged();
+          return this;
+        }
+        @java.lang.Override
+        public final Builder setUnknownFields(
+            final com.google.protobuf.UnknownFieldSet unknownFields) {
+          return super.setUnknownFields(unknownFields);
+        }
+
+        @java.lang.Override
+        public final Builder mergeUnknownFields(
+            final com.google.protobuf.UnknownFieldSet unknownFields) {
+          return super.mergeUnknownFields(unknownFields);
+        }
+
+
+        // @@protoc_insertion_point(builder_scope:cmvr.api.ControlPtzCommand.Request)
+      }
+
+      // @@protoc_insertion_point(class_scope:cmvr.api.ControlPtzCommand.Request)
+      private static final cmvr.api.CameraCommand.ControlPtzCommand.Request DEFAULT_INSTANCE;
+      static {
+        DEFAULT_INSTANCE = new cmvr.api.CameraCommand.ControlPtzCommand.Request();
+      }
+
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Request getDefaultInstance() {
+        return DEFAULT_INSTANCE;
+      }
+
+      private static final com.google.protobuf.Parser
+          PARSER = new com.google.protobuf.AbstractParser() {
+        @java.lang.Override
+        public Request parsePartialFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws com.google.protobuf.InvalidProtocolBufferException {
+          Builder builder = newBuilder();
+          try {
+            builder.mergeFrom(input, extensionRegistry);
+          } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+            throw e.setUnfinishedMessage(builder.buildPartial());
+          } catch (com.google.protobuf.UninitializedMessageException e) {
+            throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+          } catch (java.io.IOException e) {
+            throw new com.google.protobuf.InvalidProtocolBufferException(e)
+                .setUnfinishedMessage(builder.buildPartial());
+          }
+          return builder.buildPartial();
+        }
+      };
+
+      public static com.google.protobuf.Parser parser() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Parser getParserForType() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public cmvr.api.CameraCommand.ControlPtzCommand.Request getDefaultInstanceForType() {
+        return DEFAULT_INSTANCE;
+      }
+
+    }
+
+    public interface FeedbackOrBuilder extends
+        // @@protoc_insertion_point(interface_extends:cmvr.api.ControlPtzCommand.Feedback)
+        com.google.protobuf.MessageOrBuilder {
+
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       * @return Whether the header field is set.
+       */
+      boolean hasHeader();
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       * @return The header.
+       */
+      cmvr.api.Common.CommandHeader.Feedback getHeader();
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
+    }
+    /**
+     * Protobuf type {@code cmvr.api.ControlPtzCommand.Feedback}
+     */
+    public static final class Feedback extends
+        com.google.protobuf.GeneratedMessageV3 implements
+        // @@protoc_insertion_point(message_implements:cmvr.api.ControlPtzCommand.Feedback)
+        FeedbackOrBuilder {
+    private static final long serialVersionUID = 0L;
+      // Use Feedback.newBuilder() to construct.
+      private Feedback(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+        super(builder);
+      }
+      private Feedback() {
+      }
+
+      @java.lang.Override
+      @SuppressWarnings({"unused"})
+      protected java.lang.Object newInstance(
+          UnusedPrivateParameter unused) {
+        return new Feedback();
+      }
+
+      @java.lang.Override
+      public final com.google.protobuf.UnknownFieldSet
+      getUnknownFields() {
+        return this.unknownFields;
+      }
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_Feedback_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_Feedback_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.CameraCommand.ControlPtzCommand.Feedback.class, cmvr.api.CameraCommand.ControlPtzCommand.Feedback.Builder.class);
+      }
+
+      public static final int HEADER_FIELD_NUMBER = 1;
+      private cmvr.api.Common.CommandHeader.Feedback header_;
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       * @return Whether the header field is set.
+       */
+      @java.lang.Override
+      public boolean hasHeader() {
+        return header_ != null;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       * @return The header.
+       */
+      @java.lang.Override
+      public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+        return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      @java.lang.Override
+      public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+        return getHeader();
+      }
+
+      private byte memoizedIsInitialized = -1;
+      @java.lang.Override
+      public final boolean isInitialized() {
+        byte isInitialized = memoizedIsInitialized;
+        if (isInitialized == 1) return true;
+        if (isInitialized == 0) return false;
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+        memoizedIsInitialized = 1;
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+      @java.lang.Override
+      public void writeTo(com.google.protobuf.CodedOutputStream output)
+                          throws java.io.IOException {
+        if (header_ != null) {
+          output.writeMessage(1, getHeader());
+        }
+        getUnknownFields().writeTo(output);
+      }
+
+      @java.lang.Override
+      public int getSerializedSize() {
+        int size = memoizedSize;
+        if (size != -1) return size;
+
+        size = 0;
+        if (header_ != null) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(1, getHeader());
+        }
+        size += getUnknownFields().getSerializedSize();
+        memoizedSize = size;
+        return size;
+      }
+
+      @java.lang.Override
+      public boolean equals(final java.lang.Object obj) {
+        if (obj == this) {
+         return true;
+        }
+        if (!(obj instanceof cmvr.api.CameraCommand.ControlPtzCommand.Feedback)) {
+          return super.equals(obj);
+        }
+        cmvr.api.CameraCommand.ControlPtzCommand.Feedback other = (cmvr.api.CameraCommand.ControlPtzCommand.Feedback) obj;
+
+        if (hasHeader() != other.hasHeader()) return false;
+        if (hasHeader()) {
+          if (!getHeader()
+              .equals(other.getHeader())) return false;
+        }
+        if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+        return true;
+      }
+
+      @java.lang.Override
+      public int hashCode() {
+        if (memoizedHashCode != 0) {
+          return memoizedHashCode;
+        }
+        int hash = 41;
+        hash = (19 * hash) + getDescriptor().hashCode();
+        if (hasHeader()) {
+          hash = (37 * hash) + HEADER_FIELD_NUMBER;
+          hash = (53 * hash) + getHeader().hashCode();
+        }
+        hash = (29 * hash) + getUnknownFields().hashCode();
+        memoizedHashCode = hash;
+        return hash;
+      }
+
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback parseFrom(
+          java.nio.ByteBuffer data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback parseFrom(
+          java.nio.ByteBuffer data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback parseFrom(
+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback parseFrom(
+          com.google.protobuf.ByteString data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback parseFrom(byte[] data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback parseFrom(
+          byte[] data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback parseFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback parseFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input, extensionRegistry);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback parseDelimitedFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseDelimitedWithIOException(PARSER, input);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback parseDelimitedFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback parseFrom(
+          com.google.protobuf.CodedInputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
+      }
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback parseFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input, extensionRegistry);
+      }
+
+      @java.lang.Override
+      public Builder newBuilderForType() { return newBuilder(); }
+      public static Builder newBuilder() {
+        return DEFAULT_INSTANCE.toBuilder();
+      }
+      public static Builder newBuilder(cmvr.api.CameraCommand.ControlPtzCommand.Feedback prototype) {
+        return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+      }
+      @java.lang.Override
+      public Builder toBuilder() {
+        return this == DEFAULT_INSTANCE
+            ? new Builder() : new Builder().mergeFrom(this);
+      }
+
+      @java.lang.Override
+      protected Builder newBuilderForType(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        Builder builder = new Builder(parent);
+        return builder;
+      }
+      /**
+       * Protobuf type {@code cmvr.api.ControlPtzCommand.Feedback}
+       */
+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageV3.Builder implements
+          // @@protoc_insertion_point(builder_implements:cmvr.api.ControlPtzCommand.Feedback)
+          cmvr.api.CameraCommand.ControlPtzCommand.FeedbackOrBuilder {
+        public static final com.google.protobuf.Descriptors.Descriptor
+            getDescriptor() {
+          return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_Feedback_descriptor;
+        }
+
+        @java.lang.Override
+        protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+            internalGetFieldAccessorTable() {
+          return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_Feedback_fieldAccessorTable
+              .ensureFieldAccessorsInitialized(
+                  cmvr.api.CameraCommand.ControlPtzCommand.Feedback.class, cmvr.api.CameraCommand.ControlPtzCommand.Feedback.Builder.class);
+        }
+
+        // Construct using cmvr.api.CameraCommand.ControlPtzCommand.Feedback.newBuilder()
+        private Builder() {
+
+        }
+
+        private Builder(
+            com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+          super(parent);
+
+        }
+        @java.lang.Override
+        public Builder clear() {
+          super.clear();
+          if (headerBuilder_ == null) {
+            header_ = null;
+          } else {
+            header_ = null;
+            headerBuilder_ = null;
+          }
+          return this;
+        }
+
+        @java.lang.Override
+        public com.google.protobuf.Descriptors.Descriptor
+            getDescriptorForType() {
+          return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_Feedback_descriptor;
+        }
+
+        @java.lang.Override
+        public cmvr.api.CameraCommand.ControlPtzCommand.Feedback getDefaultInstanceForType() {
+          return cmvr.api.CameraCommand.ControlPtzCommand.Feedback.getDefaultInstance();
+        }
+
+        @java.lang.Override
+        public cmvr.api.CameraCommand.ControlPtzCommand.Feedback build() {
+          cmvr.api.CameraCommand.ControlPtzCommand.Feedback result = buildPartial();
+          if (!result.isInitialized()) {
+            throw newUninitializedMessageException(result);
+          }
+          return result;
+        }
+
+        @java.lang.Override
+        public cmvr.api.CameraCommand.ControlPtzCommand.Feedback buildPartial() {
+          cmvr.api.CameraCommand.ControlPtzCommand.Feedback result = new cmvr.api.CameraCommand.ControlPtzCommand.Feedback(this);
+          if (headerBuilder_ == null) {
+            result.header_ = header_;
+          } else {
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+          }
+          onBuilt();
+          return result;
+        }
+
+        @java.lang.Override
+        public Builder clone() {
+          return super.clone();
+        }
+        @java.lang.Override
+        public Builder setField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            java.lang.Object value) {
+          return super.setField(field, value);
+        }
+        @java.lang.Override
+        public Builder clearField(
+            com.google.protobuf.Descriptors.FieldDescriptor field) {
+          return super.clearField(field);
+        }
+        @java.lang.Override
+        public Builder clearOneof(
+            com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+          return super.clearOneof(oneof);
+        }
+        @java.lang.Override
+        public Builder setRepeatedField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            int index, java.lang.Object value) {
+          return super.setRepeatedField(field, index, value);
+        }
+        @java.lang.Override
+        public Builder addRepeatedField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            java.lang.Object value) {
+          return super.addRepeatedField(field, value);
+        }
+        @java.lang.Override
+        public Builder mergeFrom(com.google.protobuf.Message other) {
+          if (other instanceof cmvr.api.CameraCommand.ControlPtzCommand.Feedback) {
+            return mergeFrom((cmvr.api.CameraCommand.ControlPtzCommand.Feedback)other);
+          } else {
+            super.mergeFrom(other);
+            return this;
+          }
+        }
+
+        public Builder mergeFrom(cmvr.api.CameraCommand.ControlPtzCommand.Feedback other) {
+          if (other == cmvr.api.CameraCommand.ControlPtzCommand.Feedback.getDefaultInstance()) return this;
+          if (other.hasHeader()) {
+            mergeHeader(other.getHeader());
+          }
+          this.mergeUnknownFields(other.getUnknownFields());
+          onChanged();
+          return this;
+        }
+
+        @java.lang.Override
+        public final boolean isInitialized() {
+          return true;
+        }
+
+        @java.lang.Override
+        public Builder mergeFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws java.io.IOException {
+          if (extensionRegistry == null) {
+            throw new java.lang.NullPointerException();
+          }
+          try {
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+            while (!done) {
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+              switch (tag) {
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+                  done = true;
+                  break;
+                case 10: {
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+                      extensionRegistry);
+
+                  break;
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+            } // while (!done)
+          } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+            throw e.unwrapIOException();
+          } finally {
+            onChanged();
+          } // finally
+          return this;
+        }
+
+        private cmvr.api.Common.CommandHeader.Feedback header_;
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> headerBuilder_;
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         * @return Whether the header field is set.
+         */
+        public boolean hasHeader() {
+          return headerBuilder_ != null || header_ != null;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         * @return The header.
+         */
+        public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+          if (headerBuilder_ == null) {
+            return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+          } else {
+            return headerBuilder_.getMessage();
+          }
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            header_ = value;
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        public Builder setHeader(
+            cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
+          if (headerBuilder_ == null) {
+            header_ = builderForValue.build();
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
+            if (header_ != null) {
+              header_ =
+                cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
+            } else {
+              header_ = value;
+            }
+            onChanged();
+          } else {
+            headerBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        public Builder clearHeader() {
+          if (headerBuilder_ == null) {
+            header_ = null;
+            onChanged();
+          } else {
+            header_ = null;
+            headerBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+          
+          onChanged();
+          return getHeaderFieldBuilder().getBuilder();
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+          if (headerBuilder_ != null) {
+            return headerBuilder_.getMessageOrBuilder();
+          } else {
+            return header_ == null ?
+                cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+          }
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> 
+            getHeaderFieldBuilder() {
+          if (headerBuilder_ == null) {
+            headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>(
+                    getHeader(),
+                    getParentForChildren(),
+                    isClean());
+            header_ = null;
+          }
+          return headerBuilder_;
+        }
+        @java.lang.Override
+        public final Builder setUnknownFields(
+            final com.google.protobuf.UnknownFieldSet unknownFields) {
+          return super.setUnknownFields(unknownFields);
+        }
+
+        @java.lang.Override
+        public final Builder mergeUnknownFields(
+            final com.google.protobuf.UnknownFieldSet unknownFields) {
+          return super.mergeUnknownFields(unknownFields);
+        }
+
+
+        // @@protoc_insertion_point(builder_scope:cmvr.api.ControlPtzCommand.Feedback)
+      }
+
+      // @@protoc_insertion_point(class_scope:cmvr.api.ControlPtzCommand.Feedback)
+      private static final cmvr.api.CameraCommand.ControlPtzCommand.Feedback DEFAULT_INSTANCE;
+      static {
+        DEFAULT_INSTANCE = new cmvr.api.CameraCommand.ControlPtzCommand.Feedback();
+      }
+
+      public static cmvr.api.CameraCommand.ControlPtzCommand.Feedback getDefaultInstance() {
+        return DEFAULT_INSTANCE;
+      }
+
+      private static final com.google.protobuf.Parser
+          PARSER = new com.google.protobuf.AbstractParser() {
+        @java.lang.Override
+        public Feedback parsePartialFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws com.google.protobuf.InvalidProtocolBufferException {
+          Builder builder = newBuilder();
+          try {
+            builder.mergeFrom(input, extensionRegistry);
+          } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+            throw e.setUnfinishedMessage(builder.buildPartial());
+          } catch (com.google.protobuf.UninitializedMessageException e) {
+            throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+          } catch (java.io.IOException e) {
+            throw new com.google.protobuf.InvalidProtocolBufferException(e)
+                .setUnfinishedMessage(builder.buildPartial());
+          }
+          return builder.buildPartial();
+        }
+      };
+
+      public static com.google.protobuf.Parser parser() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Parser getParserForType() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public cmvr.api.CameraCommand.ControlPtzCommand.Feedback getDefaultInstanceForType() {
+        return DEFAULT_INSTANCE;
+      }
+
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.CameraCommand.ControlPtzCommand)) {
+        return super.equals(obj);
+      }
+      cmvr.api.CameraCommand.ControlPtzCommand other = (cmvr.api.CameraCommand.ControlPtzCommand) obj;
+
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.CameraCommand.ControlPtzCommand parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.CameraCommand.ControlPtzCommand parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.CameraCommand.ControlPtzCommand parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.CameraCommand.ControlPtzCommand parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.CameraCommand.ControlPtzCommand parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.CameraCommand.ControlPtzCommand parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.CameraCommand.ControlPtzCommand parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.CameraCommand.ControlPtzCommand parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.CameraCommand.ControlPtzCommand parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.CameraCommand.ControlPtzCommand parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.CameraCommand.ControlPtzCommand parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.CameraCommand.ControlPtzCommand parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.CameraCommand.ControlPtzCommand prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.ControlPtzCommand}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.ControlPtzCommand)
+        cmvr.api.CameraCommand.ControlPtzCommandOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.CameraCommand.ControlPtzCommand.class, cmvr.api.CameraCommand.ControlPtzCommand.Builder.class);
+      }
+
+      // Construct using cmvr.api.CameraCommand.ControlPtzCommand.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.CameraCommand.internal_static_cmvr_api_ControlPtzCommand_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.CameraCommand.ControlPtzCommand getDefaultInstanceForType() {
+        return cmvr.api.CameraCommand.ControlPtzCommand.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.CameraCommand.ControlPtzCommand build() {
+        cmvr.api.CameraCommand.ControlPtzCommand result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.CameraCommand.ControlPtzCommand buildPartial() {
+        cmvr.api.CameraCommand.ControlPtzCommand result = new cmvr.api.CameraCommand.ControlPtzCommand(this);
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.CameraCommand.ControlPtzCommand) {
+          return mergeFrom((cmvr.api.CameraCommand.ControlPtzCommand)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.CameraCommand.ControlPtzCommand other) {
+        if (other == cmvr.api.CameraCommand.ControlPtzCommand.getDefaultInstance()) return this;
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.ControlPtzCommand)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.ControlPtzCommand)
+    private static final cmvr.api.CameraCommand.ControlPtzCommand DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.CameraCommand.ControlPtzCommand();
+    }
+
+    public static cmvr.api.CameraCommand.ControlPtzCommand getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public ControlPtzCommand parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.CameraCommand.ControlPtzCommand getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
   public interface GetRGBImageStreamCommandOrBuilder extends
       // @@protoc_insertion_point(interface_extends:cmvr.api.GetRGBImageStreamCommand)
       com.google.protobuf.MessageOrBuilder {
@@ -18441,19 +21144,19 @@ public final class CameraCommand {
       cmvr.api.CameraCommand.FrameDataOrBuilder getColorFrameOrBuilder();
 
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return Whether the intrinsics field is set.
        */
       boolean hasIntrinsics();
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return The intrinsics.
        */
-      cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics();
+      cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics();
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        */
-      cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder();
+      cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder();
 
       /**
        * int32 seq_no = 4;
@@ -18554,9 +21257,9 @@ public final class CameraCommand {
       }
 
       public static final int INTRINSICS_FIELD_NUMBER = 3;
-      private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+      private cmvr.api.CameraCommand.CameraIntrinsics intrinsics_;
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return Whether the intrinsics field is set.
        */
       @java.lang.Override
@@ -18564,18 +21267,18 @@ public final class CameraCommand {
         return intrinsics_ != null;
       }
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return The intrinsics.
        */
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
-        return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+      public cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics() {
+        return intrinsics_ == null ? cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
       }
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        */
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+      public cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder() {
         return getIntrinsics();
       }
 
@@ -19254,31 +21957,31 @@ public final class CameraCommand {
           return colorFrameBuilder_;
         }
 
-        private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+        private cmvr.api.CameraCommand.CameraIntrinsics intrinsics_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> intrinsicsBuilder_;
+            cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder> intrinsicsBuilder_;
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          * @return Whether the intrinsics field is set.
          */
         public boolean hasIntrinsics() {
           return intrinsicsBuilder_ != null || intrinsics_ != null;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          * @return The intrinsics.
          */
-        public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+        public cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics() {
           if (intrinsicsBuilder_ == null) {
-            return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+            return intrinsics_ == null ? cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
           } else {
             return intrinsicsBuilder_.getMessage();
           }
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public Builder setIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+        public Builder setIntrinsics(cmvr.api.CameraCommand.CameraIntrinsics value) {
           if (intrinsicsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -19292,10 +21995,10 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
         public Builder setIntrinsics(
-            cmvr.api.CameraCommand.Rs2Intrinsics.Builder builderForValue) {
+            cmvr.api.CameraCommand.CameraIntrinsics.Builder builderForValue) {
           if (intrinsicsBuilder_ == null) {
             intrinsics_ = builderForValue.build();
             onChanged();
@@ -19306,13 +22009,13 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public Builder mergeIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+        public Builder mergeIntrinsics(cmvr.api.CameraCommand.CameraIntrinsics value) {
           if (intrinsicsBuilder_ == null) {
             if (intrinsics_ != null) {
               intrinsics_ =
-                cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
+                cmvr.api.CameraCommand.CameraIntrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
             } else {
               intrinsics_ = value;
             }
@@ -19324,7 +22027,7 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
         public Builder clearIntrinsics() {
           if (intrinsicsBuilder_ == null) {
@@ -19338,33 +22041,33 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public cmvr.api.CameraCommand.Rs2Intrinsics.Builder getIntrinsicsBuilder() {
+        public cmvr.api.CameraCommand.CameraIntrinsics.Builder getIntrinsicsBuilder() {
           
           onChanged();
           return getIntrinsicsFieldBuilder().getBuilder();
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+        public cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder() {
           if (intrinsicsBuilder_ != null) {
             return intrinsicsBuilder_.getMessageOrBuilder();
           } else {
             return intrinsics_ == null ?
-                cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+                cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
           }
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> 
+            cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder> 
             getIntrinsicsFieldBuilder() {
           if (intrinsicsBuilder_ == null) {
             intrinsicsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder>(
+                cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder>(
                     getIntrinsics(),
                     getParentForChildren(),
                     isClean());
@@ -20570,19 +23273,19 @@ public final class CameraCommand {
       cmvr.api.CameraCommand.FrameDataOrBuilder getDepthFrameOrBuilder();
 
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return Whether the intrinsics field is set.
        */
       boolean hasIntrinsics();
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return The intrinsics.
        */
-      cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics();
+      cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics();
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        */
-      cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder();
+      cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder();
 
       /**
        * int32 seq_no = 4;
@@ -20683,9 +23386,9 @@ public final class CameraCommand {
       }
 
       public static final int INTRINSICS_FIELD_NUMBER = 3;
-      private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+      private cmvr.api.CameraCommand.CameraIntrinsics intrinsics_;
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return Whether the intrinsics field is set.
        */
       @java.lang.Override
@@ -20693,18 +23396,18 @@ public final class CameraCommand {
         return intrinsics_ != null;
       }
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        * @return The intrinsics.
        */
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
-        return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+      public cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics() {
+        return intrinsics_ == null ? cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
       }
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+       * .cmvr.api.CameraIntrinsics intrinsics = 3;
        */
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+      public cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder() {
         return getIntrinsics();
       }
 
@@ -21383,31 +24086,31 @@ public final class CameraCommand {
           return depthFrameBuilder_;
         }
 
-        private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+        private cmvr.api.CameraCommand.CameraIntrinsics intrinsics_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> intrinsicsBuilder_;
+            cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder> intrinsicsBuilder_;
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          * @return Whether the intrinsics field is set.
          */
         public boolean hasIntrinsics() {
           return intrinsicsBuilder_ != null || intrinsics_ != null;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          * @return The intrinsics.
          */
-        public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+        public cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics() {
           if (intrinsicsBuilder_ == null) {
-            return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+            return intrinsics_ == null ? cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
           } else {
             return intrinsicsBuilder_.getMessage();
           }
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public Builder setIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+        public Builder setIntrinsics(cmvr.api.CameraCommand.CameraIntrinsics value) {
           if (intrinsicsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -21421,10 +24124,10 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
         public Builder setIntrinsics(
-            cmvr.api.CameraCommand.Rs2Intrinsics.Builder builderForValue) {
+            cmvr.api.CameraCommand.CameraIntrinsics.Builder builderForValue) {
           if (intrinsicsBuilder_ == null) {
             intrinsics_ = builderForValue.build();
             onChanged();
@@ -21435,13 +24138,13 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public Builder mergeIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+        public Builder mergeIntrinsics(cmvr.api.CameraCommand.CameraIntrinsics value) {
           if (intrinsicsBuilder_ == null) {
             if (intrinsics_ != null) {
               intrinsics_ =
-                cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
+                cmvr.api.CameraCommand.CameraIntrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
             } else {
               intrinsics_ = value;
             }
@@ -21453,7 +24156,7 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
         public Builder clearIntrinsics() {
           if (intrinsicsBuilder_ == null) {
@@ -21467,33 +24170,33 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public cmvr.api.CameraCommand.Rs2Intrinsics.Builder getIntrinsicsBuilder() {
+        public cmvr.api.CameraCommand.CameraIntrinsics.Builder getIntrinsicsBuilder() {
           
           onChanged();
           return getIntrinsicsFieldBuilder().getBuilder();
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
-        public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+        public cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder() {
           if (intrinsicsBuilder_ != null) {
             return intrinsicsBuilder_.getMessageOrBuilder();
           } else {
             return intrinsics_ == null ?
-                cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+                cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
           }
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 3;
+         * .cmvr.api.CameraIntrinsics intrinsics = 3;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> 
+            cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder> 
             getIntrinsicsFieldBuilder() {
           if (intrinsicsBuilder_ == null) {
             intrinsicsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder>(
+                cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder>(
                     getIntrinsics(),
                     getParentForChildren(),
                     isClean());
@@ -22714,19 +25417,19 @@ public final class CameraCommand {
       cmvr.api.CameraCommand.FrameDataOrBuilder getDepthFrameOrBuilder();
 
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+       * .cmvr.api.CameraIntrinsics intrinsics = 4;
        * @return Whether the intrinsics field is set.
        */
       boolean hasIntrinsics();
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+       * .cmvr.api.CameraIntrinsics intrinsics = 4;
        * @return The intrinsics.
        */
-      cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics();
+      cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics();
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+       * .cmvr.api.CameraIntrinsics intrinsics = 4;
        */
-      cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder();
+      cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder();
 
       /**
        * int32 seq_no = 5;
@@ -22853,9 +25556,9 @@ public final class CameraCommand {
       }
 
       public static final int INTRINSICS_FIELD_NUMBER = 4;
-      private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+      private cmvr.api.CameraCommand.CameraIntrinsics intrinsics_;
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+       * .cmvr.api.CameraIntrinsics intrinsics = 4;
        * @return Whether the intrinsics field is set.
        */
       @java.lang.Override
@@ -22863,18 +25566,18 @@ public final class CameraCommand {
         return intrinsics_ != null;
       }
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+       * .cmvr.api.CameraIntrinsics intrinsics = 4;
        * @return The intrinsics.
        */
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
-        return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+      public cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics() {
+        return intrinsics_ == null ? cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
       }
       /**
-       * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+       * .cmvr.api.CameraIntrinsics intrinsics = 4;
        */
       @java.lang.Override
-      public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+      public cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder() {
         return getIntrinsics();
       }
 
@@ -23709,31 +26412,31 @@ public final class CameraCommand {
           return depthFrameBuilder_;
         }
 
-        private cmvr.api.CameraCommand.Rs2Intrinsics intrinsics_;
+        private cmvr.api.CameraCommand.CameraIntrinsics intrinsics_;
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> intrinsicsBuilder_;
+            cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder> intrinsicsBuilder_;
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          * @return Whether the intrinsics field is set.
          */
         public boolean hasIntrinsics() {
           return intrinsicsBuilder_ != null || intrinsics_ != null;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          * @return The intrinsics.
          */
-        public cmvr.api.CameraCommand.Rs2Intrinsics getIntrinsics() {
+        public cmvr.api.CameraCommand.CameraIntrinsics getIntrinsics() {
           if (intrinsicsBuilder_ == null) {
-            return intrinsics_ == null ? cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+            return intrinsics_ == null ? cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
           } else {
             return intrinsicsBuilder_.getMessage();
           }
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
-        public Builder setIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+        public Builder setIntrinsics(cmvr.api.CameraCommand.CameraIntrinsics value) {
           if (intrinsicsBuilder_ == null) {
             if (value == null) {
               throw new NullPointerException();
@@ -23747,10 +26450,10 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
         public Builder setIntrinsics(
-            cmvr.api.CameraCommand.Rs2Intrinsics.Builder builderForValue) {
+            cmvr.api.CameraCommand.CameraIntrinsics.Builder builderForValue) {
           if (intrinsicsBuilder_ == null) {
             intrinsics_ = builderForValue.build();
             onChanged();
@@ -23761,13 +26464,13 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
-        public Builder mergeIntrinsics(cmvr.api.CameraCommand.Rs2Intrinsics value) {
+        public Builder mergeIntrinsics(cmvr.api.CameraCommand.CameraIntrinsics value) {
           if (intrinsicsBuilder_ == null) {
             if (intrinsics_ != null) {
               intrinsics_ =
-                cmvr.api.CameraCommand.Rs2Intrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
+                cmvr.api.CameraCommand.CameraIntrinsics.newBuilder(intrinsics_).mergeFrom(value).buildPartial();
             } else {
               intrinsics_ = value;
             }
@@ -23779,7 +26482,7 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
         public Builder clearIntrinsics() {
           if (intrinsicsBuilder_ == null) {
@@ -23793,33 +26496,33 @@ public final class CameraCommand {
           return this;
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
-        public cmvr.api.CameraCommand.Rs2Intrinsics.Builder getIntrinsicsBuilder() {
+        public cmvr.api.CameraCommand.CameraIntrinsics.Builder getIntrinsicsBuilder() {
           
           onChanged();
           return getIntrinsicsFieldBuilder().getBuilder();
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
-        public cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder getIntrinsicsOrBuilder() {
+        public cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder getIntrinsicsOrBuilder() {
           if (intrinsicsBuilder_ != null) {
             return intrinsicsBuilder_.getMessageOrBuilder();
           } else {
             return intrinsics_ == null ?
-                cmvr.api.CameraCommand.Rs2Intrinsics.getDefaultInstance() : intrinsics_;
+                cmvr.api.CameraCommand.CameraIntrinsics.getDefaultInstance() : intrinsics_;
           }
         }
         /**
-         * .cmvr.api.Rs2Intrinsics intrinsics = 4;
+         * .cmvr.api.CameraIntrinsics intrinsics = 4;
          */
         private com.google.protobuf.SingleFieldBuilderV3<
-            cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder> 
+            cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder> 
             getIntrinsicsFieldBuilder() {
           if (intrinsicsBuilder_ == null) {
             intrinsicsBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-                cmvr.api.CameraCommand.Rs2Intrinsics, cmvr.api.CameraCommand.Rs2Intrinsics.Builder, cmvr.api.CameraCommand.Rs2IntrinsicsOrBuilder>(
+                cmvr.api.CameraCommand.CameraIntrinsics, cmvr.api.CameraCommand.CameraIntrinsics.Builder, cmvr.api.CameraCommand.CameraIntrinsicsOrBuilder>(
                     getIntrinsics(),
                     getParentForChildren(),
                     isClean());
@@ -24284,10 +26987,10 @@ public final class CameraCommand {
     com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
       internal_static_cmvr_api_FrameData_fieldAccessorTable;
   private static final com.google.protobuf.Descriptors.Descriptor
-    internal_static_cmvr_api_Rs2Intrinsics_descriptor;
+    internal_static_cmvr_api_CameraIntrinsics_descriptor;
   private static final 
     com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
-      internal_static_cmvr_api_Rs2Intrinsics_fieldAccessorTable;
+      internal_static_cmvr_api_CameraIntrinsics_fieldAccessorTable;
   private static final com.google.protobuf.Descriptors.Descriptor
     internal_static_cmvr_api_CameraState_descriptor;
   private static final 
@@ -24413,6 +27116,21 @@ public final class CameraCommand {
   private static final 
     com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
       internal_static_cmvr_api_StopCameraRecordingCommand_Feedback_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_ControlPtzCommand_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_ControlPtzCommand_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_ControlPtzCommand_Request_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_ControlPtzCommand_Request_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_ControlPtzCommand_Feedback_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_ControlPtzCommand_Feedback_fieldAccessorTable;
   private static final com.google.protobuf.Descriptors.Descriptor
     internal_static_cmvr_api_GetRGBImageStreamCommand_descriptor;
   private static final 
@@ -24468,79 +27186,96 @@ public final class CameraCommand {
   static {
     java.lang.String[] descriptorData = {
       "\n\035cmvr/api/camera_command.proto\022\010cmvr.ap" +
-      "i\032\025cmvr/api/common.proto\"\327\001\n\tFrameData\022\014" +
+      "i\032\025cmvr/api/common.proto\"\355\002\n\tFrameData\022\014" +
       "\n\004data\030\001 \001(\014\022\r\n\005width\030\002 \001(\005\022\016\n\006height\030\003 " +
       "\001(\005\022+\n\004type\030\004 \001(\0162\035.cmvr.api.FrameData.F" +
       "rameType\022\r\n\005codec\030\005 \001(\t\022\024\n\014is_key_frame\030" +
-      "\006 \001(\010\"K\n\tFrameType\022\010\n\004U8C1\020\000\022\t\n\005U16C1\020\001\022" +
-      "\010\n\004U8C3\020\002\022\t\n\005U16C3\020\003\022\t\n\005F16C1\020\004\022\t\n\005F32C1" +
-      "\020\005\"S\n\rRs2Intrinsics\022\n\n\002cx\030\001 \001(\002\022\n\n\002cy\030\002 " +
-      "\001(\002\022\n\n\002fx\030\003 \001(\002\022\n\n\002fy\030\004 \001(\002\022\022\n\006coeffs\030\005 " +
-      "\003(\002B\002\020\001\"\271\001\n\013CameraState\022\026\n\016is_initialize" +
-      "d\030\001 \001(\010\022\021\n\tis_opened\030\002 \001(\010\022\024\n\014is_streami" +
-      "ng\030\003 \001(\010\022\024\n\014is_recording\030\004 \001(\010\022\020\n\010is_err" +
-      "or\030\005 \001(\010\022\025\n\rerror_message\030\006 \001(\t\022\013\n\003fps\030\007" +
-      " \001(\005\022\r\n\005width\030\010 \001(\005\022\016\n\006height\030\t \001(\005\"\267\001\n\025" +
-      "GetCameraStateCommand\032:\n\007Request\022/\n\006head" +
-      "er\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reques" +
-      "t\032b\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api" +
-      ".CommandHeader.Feedback\022$\n\005state\030\002 \001(\0132\025" +
-      ".cmvr.api.CameraState\"\216\001\n\022StartCameraCom" +
-      "mand\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.a" +
-      "pi.CommandHeader.Request\032<\n\010Feedback\0220\n\006" +
-      "header\030\001 \001(\0132 .cmvr.api.CommandHeader.Fe" +
-      "edback\"\215\001\n\021StopCameraCommand\032:\n\007Request\022" +
-      "/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeader" +
-      ".Request\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .c" +
-      "mvr.api.CommandHeader.Feedback\"\346\001\n\022GetRG" +
-      "BImageCommand\032:\n\007Request\022/\n\006header\030\001 \001(\013" +
-      "2\037.cmvr.api.CommandHeader.Request\032\223\001\n\010Fe" +
+      "\006 \001(\010\022\026\n\016capture_utc_ns\030\007 \001(\003\022\027\n\017source_" +
+      "sequence\030\010 \001(\004\022\013\n\003pts\030\t \001(\003\022\013\n\003dts\030\n \001(\003" +
+      "\022\022\n\nsource_fps\030\013 \001(\r\022\030\n\020source_timestamp" +
+      "\030\014 \001(\004\022\033\n\023source_frame_number\030\r \001(\004\"K\n\tF" +
+      "rameType\022\010\n\004U8C1\020\000\022\t\n\005U16C1\020\001\022\010\n\004U8C3\020\002\022" +
+      "\t\n\005U16C3\020\003\022\t\n\005F16C1\020\004\022\t\n\005F32C1\020\005\"V\n\020Came" +
+      "raIntrinsics\022\n\n\002cx\030\001 \001(\002\022\n\n\002cy\030\002 \001(\002\022\n\n\002" +
+      "fx\030\003 \001(\002\022\n\n\002fy\030\004 \001(\002\022\022\n\006coeffs\030\005 \003(\002B\002\020\001" +
+      "\"\271\001\n\013CameraState\022\026\n\016is_initialized\030\001 \001(\010" +
+      "\022\021\n\tis_opened\030\002 \001(\010\022\024\n\014is_streaming\030\003 \001(" +
+      "\010\022\024\n\014is_recording\030\004 \001(\010\022\020\n\010is_error\030\005 \001(" +
+      "\010\022\025\n\rerror_message\030\006 \001(\t\022\013\n\003fps\030\007 \001(\005\022\r\n" +
+      "\005width\030\010 \001(\005\022\016\n\006height\030\t \001(\005\"\267\001\n\025GetCame" +
+      "raStateCommand\032:\n\007Request\022/\n\006header\030\001 \001(" +
+      "\0132\037.cmvr.api.CommandHeader.Request\032b\n\010Fe" +
       "edback\0220\n\006header\030\001 \001(\0132 .cmvr.api.Comman" +
-      "dHeader.Feedback\022(\n\013color_frame\030\002 \001(\0132\023." +
-      "cmvr.api.FrameData\022+\n\nintrinsics\030\003 \001(\0132\027" +
-      ".cmvr.api.Rs2Intrinsics\"\350\001\n\024GetDepthImag" +
-      "eCommand\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cm" +
-      "vr.api.CommandHeader.Request\032\223\001\n\010Feedbac" +
-      "k\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandHead" +
-      "er.Feedback\022(\n\013depth_frame\030\002 \001(\0132\023.cmvr." +
-      "api.FrameData\022+\n\nintrinsics\030\003 \001(\0132\027.cmvr" +
-      ".api.Rs2Intrinsics\"\222\002\n\024GetRGBDImagesComm" +
-      "and\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.ap" +
-      "i.CommandHeader.Request\032\275\001\n\010Feedback\0220\n\006" +
-      "header\030\001 \001(\0132 .cmvr.api.CommandHeader.Fe" +
-      "edback\022(\n\013color_frame\030\002 \001(\0132\023.cmvr.api.F" +
-      "rameData\022(\n\013depth_frame\030\003 \001(\0132\023.cmvr.api" +
-      ".FrameData\022+\n\nintrinsics\030\004 \001(\0132\027.cmvr.ap" +
-      "i.Rs2Intrinsics\"\253\001\n\033StartCameraRecording" +
-      "Command\032N\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmv" +
-      "r.api.CommandHeader.Request\022\022\n\nvideo_pat" +
-      "h\030\002 \001(\t\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cm" +
-      "vr.api.CommandHeader.Feedback\"\226\001\n\032StopCa" +
-      "meraRecordingCommand\032:\n\007Request\022/\n\006heade" +
-      "r\030\001 \001(\0132\037.cmvr.api.CommandHeader.Request" +
-      "\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api." +
-      "CommandHeader.Feedback\"\211\002\n\030GetRGBImageSt" +
-      "reamCommand\032G\n\007Request\022/\n\006header\030\001 \001(\0132\037" +
-      ".cmvr.api.CommandHeader.Request\022\013\n\003eof\030\002" +
-      " \001(\010\032\243\001\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr" +
-      ".api.CommandHeader.Feedback\022(\n\013color_fra" +
-      "me\030\002 \001(\0132\023.cmvr.api.FrameData\022+\n\nintrins" +
-      "ics\030\003 \001(\0132\027.cmvr.api.Rs2Intrinsics\022\016\n\006se" +
-      "q_no\030\004 \001(\005\"\213\002\n\032GetDepthImageStreamComman" +
-      "d\032G\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api." +
-      "CommandHeader.Request\022\013\n\003eof\030\002 \001(\010\032\243\001\n\010F" +
-      "eedback\0220\n\006header\030\001 \001(\0132 .cmvr.api.Comma" +
-      "ndHeader.Feedback\022(\n\013depth_frame\030\002 \001(\0132\023" +
-      ".cmvr.api.FrameData\022+\n\nintrinsics\030\003 \001(\0132" +
-      "\027.cmvr.api.Rs2Intrinsics\022\016\n\006seq_no\030\004 \001(\005" +
-      "\"\265\002\n\032GetRGBDImagesStreamCommand\032G\n\007Reque" +
-      "st\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHea" +
-      "der.Request\022\013\n\003eof\030\002 \001(\010\032\315\001\n\010Feedback\0220\n" +
+      "dHeader.Feedback\022$\n\005state\030\002 \001(\0132\025.cmvr.a" +
+      "pi.CameraState\"\216\001\n\022StartCameraCommand\032:\n" +
+      "\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comm" +
+      "andHeader.Request\032<\n\010Feedback\0220\n\006header\030" +
+      "\001 \001(\0132 .cmvr.api.CommandHeader.Feedback\"" +
+      "\215\001\n\021StopCameraCommand\032:\n\007Request\022/\n\006head" +
+      "er\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reques" +
+      "t\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api" +
+      ".CommandHeader.Feedback\"\351\001\n\022GetRGBImageC" +
+      "ommand\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr" +
+      ".api.CommandHeader.Request\032\226\001\n\010Feedback\022" +
+      "0\n\006header\030\001 \001(\0132 .cmvr.api.CommandHeader" +
+      ".Feedback\022(\n\013color_frame\030\002 \001(\0132\023.cmvr.ap" +
+      "i.FrameData\022.\n\nintrinsics\030\003 \001(\0132\032.cmvr.a" +
+      "pi.CameraIntrinsics\"\353\001\n\024GetDepthImageCom" +
+      "mand\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.a" +
+      "pi.CommandHeader.Request\032\226\001\n\010Feedback\0220\n" +
       "\006header\030\001 \001(\0132 .cmvr.api.CommandHeader.F" +
-      "eedback\022(\n\013color_frame\030\002 \001(\0132\023.cmvr.api." +
-      "FrameData\022(\n\013depth_frame\030\003 \001(\0132\023.cmvr.ap" +
-      "i.FrameData\022+\n\nintrinsics\030\004 \001(\0132\027.cmvr.a" +
-      "pi.Rs2Intrinsics\022\016\n\006seq_no\030\005 \001(\005b\006proto3"
+      "eedback\022(\n\013depth_frame\030\002 \001(\0132\023.cmvr.api." +
+      "FrameData\022.\n\nintrinsics\030\003 \001(\0132\032.cmvr.api" +
+      ".CameraIntrinsics\"\225\002\n\024GetRGBDImagesComma" +
+      "nd\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api" +
+      ".CommandHeader.Request\032\300\001\n\010Feedback\0220\n\006h" +
+      "eader\030\001 \001(\0132 .cmvr.api.CommandHeader.Fee" +
+      "dback\022(\n\013color_frame\030\002 \001(\0132\023.cmvr.api.Fr" +
+      "ameData\022(\n\013depth_frame\030\003 \001(\0132\023.cmvr.api." +
+      "FrameData\022.\n\nintrinsics\030\004 \001(\0132\032.cmvr.api" +
+      ".CameraIntrinsics\"\253\001\n\033StartCameraRecordi" +
+      "ngCommand\032N\n\007Request\022/\n\006header\030\001 \001(\0132\037.c" +
+      "mvr.api.CommandHeader.Request\022\022\n\nvideo_p" +
+      "ath\030\002 \001(\t\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 ." +
+      "cmvr.api.CommandHeader.Feedback\"\226\001\n\032Stop" +
+      "CameraRecordingCommand\032:\n\007Request\022/\n\006hea" +
+      "der\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reque" +
+      "st\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.ap" +
+      "i.CommandHeader.Feedback\"\347\003\n\021ControlPtzC" +
+      "ommand\032\263\001\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmv" +
+      "r.api.CommandHeader.Request\0224\n\007command\030\002" +
+      " \001(\0162#.cmvr.api.ControlPtzCommand.Comman" +
+      "d\0222\n\006action\030\003 \001(\0162\".cmvr.api.ControlPtzC" +
+      "ommand.Action\022\r\n\005speed\030\004 \001(\r\032<\n\010Feedback" +
+      "\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandHeade" +
+      "r.Feedback\"\276\001\n\007Command\022\027\n\023COMMAND_UNSPEC" +
+      "IFIED\020\000\022\013\n\007TILT_UP\020\001\022\r\n\tTILT_DOWN\020\002\022\014\n\010P" +
+      "AN_LEFT\020\003\022\r\n\tPAN_RIGHT\020\004\022\013\n\007UP_LEFT\020\005\022\014\n" +
+      "\010UP_RIGHT\020\006\022\r\n\tDOWN_LEFT\020\007\022\016\n\nDOWN_RIGHT" +
+      "\020\010\022\013\n\007ZOOM_IN\020\t\022\014\n\010ZOOM_OUT\020\n\022\014\n\010PAN_AUT" +
+      "O\020\013\"\035\n\006Action\022\t\n\005START\020\000\022\010\n\004STOP\020\001\"\214\002\n\030G" +
+      "etRGBImageStreamCommand\032G\n\007Request\022/\n\006he" +
+      "ader\030\001 \001(\0132\037.cmvr.api.CommandHeader.Requ" +
+      "est\022\013\n\003eof\030\002 \001(\010\032\246\001\n\010Feedback\0220\n\006header\030" +
+      "\001 \001(\0132 .cmvr.api.CommandHeader.Feedback\022" +
+      "(\n\013color_frame\030\002 \001(\0132\023.cmvr.api.FrameDat" +
+      "a\022.\n\nintrinsics\030\003 \001(\0132\032.cmvr.api.CameraI" +
+      "ntrinsics\022\016\n\006seq_no\030\004 \001(\005\"\216\002\n\032GetDepthIm" +
+      "ageStreamCommand\032G\n\007Request\022/\n\006header\030\001 " +
+      "\001(\0132\037.cmvr.api.CommandHeader.Request\022\013\n\003" +
+      "eof\030\002 \001(\010\032\246\001\n\010Feedback\0220\n\006header\030\001 \001(\0132 " +
+      ".cmvr.api.CommandHeader.Feedback\022(\n\013dept" +
+      "h_frame\030\002 \001(\0132\023.cmvr.api.FrameData\022.\n\nin" +
+      "trinsics\030\003 \001(\0132\032.cmvr.api.CameraIntrinsi" +
+      "cs\022\016\n\006seq_no\030\004 \001(\005\"\270\002\n\032GetRGBDImagesStre" +
+      "amCommand\032G\n\007Request\022/\n\006header\030\001 \001(\0132\037.c" +
+      "mvr.api.CommandHeader.Request\022\013\n\003eof\030\002 \001" +
+      "(\010\032\320\001\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.a" +
+      "pi.CommandHeader.Feedback\022(\n\013color_frame" +
+      "\030\002 \001(\0132\023.cmvr.api.FrameData\022(\n\013depth_fra" +
+      "me\030\003 \001(\0132\023.cmvr.api.FrameData\022.\n\nintrins" +
+      "ics\030\004 \001(\0132\032.cmvr.api.CameraIntrinsics\022\016\n" +
+      "\006seq_no\030\005 \001(\005b\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
@@ -24552,12 +27287,12 @@ public final class CameraCommand {
     internal_static_cmvr_api_FrameData_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_FrameData_descriptor,
-        new java.lang.String[] { "Data", "Width", "Height", "Type", "Codec", "IsKeyFrame", });
-    internal_static_cmvr_api_Rs2Intrinsics_descriptor =
+        new java.lang.String[] { "Data", "Width", "Height", "Type", "Codec", "IsKeyFrame", "CaptureUtcNs", "SourceSequence", "Pts", "Dts", "SourceFps", "SourceTimestamp", "SourceFrameNumber", });
+    internal_static_cmvr_api_CameraIntrinsics_descriptor =
       getDescriptor().getMessageTypes().get(1);
-    internal_static_cmvr_api_Rs2Intrinsics_fieldAccessorTable = new
+    internal_static_cmvr_api_CameraIntrinsics_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
-        internal_static_cmvr_api_Rs2Intrinsics_descriptor,
+        internal_static_cmvr_api_CameraIntrinsics_descriptor,
         new java.lang.String[] { "Cx", "Cy", "Fx", "Fy", "Coeffs", });
     internal_static_cmvr_api_CameraState_descriptor =
       getDescriptor().getMessageTypes().get(2);
@@ -24709,8 +27444,26 @@ public final class CameraCommand {
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_StopCameraRecordingCommand_Feedback_descriptor,
         new java.lang.String[] { "Header", });
-    internal_static_cmvr_api_GetRGBImageStreamCommand_descriptor =
+    internal_static_cmvr_api_ControlPtzCommand_descriptor =
       getDescriptor().getMessageTypes().get(11);
+    internal_static_cmvr_api_ControlPtzCommand_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_ControlPtzCommand_descriptor,
+        new java.lang.String[] { });
+    internal_static_cmvr_api_ControlPtzCommand_Request_descriptor =
+      internal_static_cmvr_api_ControlPtzCommand_descriptor.getNestedTypes().get(0);
+    internal_static_cmvr_api_ControlPtzCommand_Request_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_ControlPtzCommand_Request_descriptor,
+        new java.lang.String[] { "Header", "Command", "Action", "Speed", });
+    internal_static_cmvr_api_ControlPtzCommand_Feedback_descriptor =
+      internal_static_cmvr_api_ControlPtzCommand_descriptor.getNestedTypes().get(1);
+    internal_static_cmvr_api_ControlPtzCommand_Feedback_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_ControlPtzCommand_Feedback_descriptor,
+        new java.lang.String[] { "Header", });
+    internal_static_cmvr_api_GetRGBImageStreamCommand_descriptor =
+      getDescriptor().getMessageTypes().get(12);
     internal_static_cmvr_api_GetRGBImageStreamCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetRGBImageStreamCommand_descriptor,
@@ -24728,7 +27481,7 @@ public final class CameraCommand {
         internal_static_cmvr_api_GetRGBImageStreamCommand_Feedback_descriptor,
         new java.lang.String[] { "Header", "ColorFrame", "Intrinsics", "SeqNo", });
     internal_static_cmvr_api_GetDepthImageStreamCommand_descriptor =
-      getDescriptor().getMessageTypes().get(12);
+      getDescriptor().getMessageTypes().get(13);
     internal_static_cmvr_api_GetDepthImageStreamCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetDepthImageStreamCommand_descriptor,
@@ -24746,7 +27499,7 @@ public final class CameraCommand {
         internal_static_cmvr_api_GetDepthImageStreamCommand_Feedback_descriptor,
         new java.lang.String[] { "Header", "DepthFrame", "Intrinsics", "SeqNo", });
     internal_static_cmvr_api_GetRGBDImagesStreamCommand_descriptor =
-      getDescriptor().getMessageTypes().get(13);
+      getDescriptor().getMessageTypes().get(14);
     internal_static_cmvr_api_GetRGBDImagesStreamCommand_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_GetRGBDImagesStreamCommand_descriptor,
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraServiceGrpc.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraServiceGrpc.java
index dfc84b5..65081ca 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraServiceGrpc.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraServiceGrpc.java
@@ -263,6 +263,37 @@ public final class CameraServiceGrpc {
     return getStopRecordingMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor getControlPtzMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "ControlPtz",
+      requestType = cmvr.api.CameraCommand.ControlPtzCommand.Request.class,
+      responseType = cmvr.api.CameraCommand.ControlPtzCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor getControlPtzMethod() {
+    io.grpc.MethodDescriptor getControlPtzMethod;
+    if ((getControlPtzMethod = CameraServiceGrpc.getControlPtzMethod) == null) {
+      synchronized (CameraServiceGrpc.class) {
+        if ((getControlPtzMethod = CameraServiceGrpc.getControlPtzMethod) == null) {
+          CameraServiceGrpc.getControlPtzMethod = getControlPtzMethod =
+              io.grpc.MethodDescriptor.newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "ControlPtz"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.CameraCommand.ControlPtzCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.CameraCommand.ControlPtzCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new CameraServiceMethodDescriptorSupplier("ControlPtz"))
+              .build();
+        }
+      }
+    }
+    return getControlPtzMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor getGetRGBImageStreamMethod;
 
@@ -460,6 +491,13 @@ public final class CameraServiceGrpc {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getStopRecordingMethod(), responseObserver);
     }
 
+    /**
+     */
+    public void controlPtz(cmvr.api.CameraCommand.ControlPtzCommand.Request request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getControlPtzMethod(), responseObserver);
+    }
+
     /**
      */
     public io.grpc.stub.StreamObserver getRGBImageStream(
@@ -539,6 +577,13 @@ public final class CameraServiceGrpc {
                 cmvr.api.CameraCommand.StopCameraRecordingCommand.Request,
                 cmvr.api.CameraCommand.StopCameraRecordingCommand.Feedback>(
                   this, METHODID_STOP_RECORDING)))
+          .addMethod(
+            getControlPtzMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.CameraCommand.ControlPtzCommand.Request,
+                cmvr.api.CameraCommand.ControlPtzCommand.Feedback>(
+                  this, METHODID_CONTROL_PTZ)))
           .addMethod(
             getGetRGBImageStreamMethod(),
             io.grpc.stub.ServerCalls.asyncBidiStreamingCall(
@@ -642,6 +687,14 @@ public final class CameraServiceGrpc {
           getChannel().newCall(getStopRecordingMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     */
+    public void controlPtz(cmvr.api.CameraCommand.ControlPtzCommand.Request request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getControlPtzMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      */
     public io.grpc.stub.StreamObserver getRGBImageStream(
@@ -736,6 +789,13 @@ public final class CameraServiceGrpc {
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getStopRecordingMethod(), getCallOptions(), request);
     }
+
+    /**
+     */
+    public cmvr.api.CameraCommand.ControlPtzCommand.Feedback controlPtz(cmvr.api.CameraCommand.ControlPtzCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getControlPtzMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -815,6 +875,14 @@ public final class CameraServiceGrpc {
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getStopRecordingMethod(), getCallOptions()), request);
     }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture controlPtz(
+        cmvr.api.CameraCommand.ControlPtzCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getControlPtzMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_GET_STATUS = 0;
@@ -825,9 +893,10 @@ public final class CameraServiceGrpc {
   private static final int METHODID_GET_RGBDIMAGES = 5;
   private static final int METHODID_START_RECORDING = 6;
   private static final int METHODID_STOP_RECORDING = 7;
-  private static final int METHODID_GET_RGBIMAGE_STREAM = 8;
-  private static final int METHODID_GET_DEPTH_IMAGE_STREAM = 9;
-  private static final int METHODID_GET_RGBDIMAGES_STREAM = 10;
+  private static final int METHODID_CONTROL_PTZ = 8;
+  private static final int METHODID_GET_RGBIMAGE_STREAM = 9;
+  private static final int METHODID_GET_DEPTH_IMAGE_STREAM = 10;
+  private static final int METHODID_GET_RGBDIMAGES_STREAM = 11;
 
   private static final class MethodHandlers implements
       io.grpc.stub.ServerCalls.UnaryMethod,
@@ -878,6 +947,10 @@ public final class CameraServiceGrpc {
           serviceImpl.stopRecording((cmvr.api.CameraCommand.StopCameraRecordingCommand.Request) request,
               (io.grpc.stub.StreamObserver) responseObserver);
           break;
+        case METHODID_CONTROL_PTZ:
+          serviceImpl.controlPtz((cmvr.api.CameraCommand.ControlPtzCommand.Request) request,
+              (io.grpc.stub.StreamObserver) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -956,6 +1029,7 @@ public final class CameraServiceGrpc {
               .addMethod(getGetRGBDImagesMethod())
               .addMethod(getStartRecordingMethod())
               .addMethod(getStopRecordingMethod())
+              .addMethod(getControlPtzMethod())
               .addMethod(getGetRGBImageStreamMethod())
               .addMethod(getGetDepthImageStreamMethod())
               .addMethod(getGetRGBDImagesStreamMethod())
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraServiceOuterClass.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraServiceOuterClass.java
index 3a14894..3ee0c79 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraServiceOuterClass.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/CameraServiceOuterClass.java
@@ -24,7 +24,7 @@ public final class CameraServiceOuterClass {
   static {
     java.lang.String[] descriptorData = {
       "\n\035cmvr/api/camera_service.proto\022\010cmvr.ap" +
-      "i\032\035cmvr/api/camera_command.proto2\233\t\n\rCam" +
+      "i\032\035cmvr/api/camera_command.proto2\366\t\n\rCam" +
       "eraService\022`\n\tGetStatus\022\'.cmvr.api.GetCa" +
       "meraStateCommand.Request\032(.cmvr.api.GetC" +
       "ameraStateCommand.Feedback\"\000\022\\\n\013StartCam" +
@@ -45,16 +45,18 @@ public final class CameraServiceOuterClass {
       "dingCommand.Feedback\"\000\022n\n\rStopRecording\022" +
       ",.cmvr.api.StopCameraRecordingCommand.Re" +
       "quest\032-.cmvr.api.StopCameraRecordingComm" +
-      "and.Feedback\"\000\022r\n\021GetRGBImageStream\022*.cm" +
-      "vr.api.GetRGBImageStreamCommand.Request\032" +
-      "+.cmvr.api.GetRGBImageStreamCommand.Feed" +
-      "back\"\000(\0010\001\022x\n\023GetDepthImageStream\022,.cmvr" +
-      ".api.GetDepthImageStreamCommand.Request\032" +
-      "-.cmvr.api.GetDepthImageStreamCommand.Fe" +
-      "edback\"\000(\0010\001\022x\n\023GetRGBDImagesStream\022,.cm" +
-      "vr.api.GetRGBDImagesStreamCommand.Reques" +
-      "t\032-.cmvr.api.GetRGBDImagesStreamCommand." +
-      "Feedback\"\000(\0010\001b\006proto3"
+      "and.Feedback\"\000\022Y\n\nControlPtz\022#.cmvr.api." +
+      "ControlPtzCommand.Request\032$.cmvr.api.Con" +
+      "trolPtzCommand.Feedback\"\000\022r\n\021GetRGBImage" +
+      "Stream\022*.cmvr.api.GetRGBImageStreamComma" +
+      "nd.Request\032+.cmvr.api.GetRGBImageStreamC" +
+      "ommand.Feedback\"\000(\0010\001\022x\n\023GetDepthImageSt" +
+      "ream\022,.cmvr.api.GetDepthImageStreamComma" +
+      "nd.Request\032-.cmvr.api.GetDepthImageStrea" +
+      "mCommand.Feedback\"\000(\0010\001\022x\n\023GetRGBDImages" +
+      "Stream\022,.cmvr.api.GetRGBDImagesStreamCom" +
+      "mand.Request\032-.cmvr.api.GetRGBDImagesStr" +
+      "eamCommand.Feedback\"\000(\0010\001b\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/Common.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/Common.java
index af37217..16a8d76 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/Common.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/Common.java
@@ -2960,6 +2960,10 @@ public final class Common {
        * WAV = 3;
        */
       WAV(3),
+      /**
+       * OPUS = 4;
+       */
+      OPUS(4),
       UNRECOGNIZED(-1),
       ;
 
@@ -2979,6 +2983,10 @@ public final class Common {
        * WAV = 3;
        */
       public static final int WAV_VALUE = 3;
+      /**
+       * OPUS = 4;
+       */
+      public static final int OPUS_VALUE = 4;
 
 
       public final int getNumber() {
@@ -3009,6 +3017,7 @@ public final class Common {
           case 1: return MP3;
           case 2: return AAC;
           case 3: return WAV;
+          case 4: return OPUS;
           default: return null;
         }
       }
@@ -5390,6 +5399,1898 @@ public final class Common {
 
   }
 
+  public interface JsonDeviceCommandOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.JsonDeviceCommand)
+      com.google.protobuf.MessageOrBuilder {
+  }
+  /**
+   * Protobuf type {@code cmvr.api.JsonDeviceCommand}
+   */
+  public static final class JsonDeviceCommand extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.JsonDeviceCommand)
+      JsonDeviceCommandOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use JsonDeviceCommand.newBuilder() to construct.
+    private JsonDeviceCommand(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private JsonDeviceCommand() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new JsonDeviceCommand();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.Common.internal_static_cmvr_api_JsonDeviceCommand_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.Common.internal_static_cmvr_api_JsonDeviceCommand_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.Common.JsonDeviceCommand.class, cmvr.api.Common.JsonDeviceCommand.Builder.class);
+    }
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+        // @@protoc_insertion_point(interface_extends:cmvr.api.JsonDeviceCommand.Request)
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+
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+       * .cmvr.api.CommandHeader.Request header = 1;
+       * @return Whether the header field is set.
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+       * @return The header.
+       */
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+       * .cmvr.api.CommandHeader.Request header = 1;
+       */
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+
+      /**
+       * string request_json = 2;
+       * @return The requestJson.
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+      java.lang.String getRequestJson();
+      /**
+       * string request_json = 2;
+       * @return The bytes for requestJson.
+       */
+      com.google.protobuf.ByteString
+          getRequestJsonBytes();
+    }
+    /**
+     * Protobuf type {@code cmvr.api.JsonDeviceCommand.Request}
+     */
+    public static final class Request extends
+        com.google.protobuf.GeneratedMessageV3 implements
+        // @@protoc_insertion_point(message_implements:cmvr.api.JsonDeviceCommand.Request)
+        RequestOrBuilder {
+    private static final long serialVersionUID = 0L;
+      // Use Request.newBuilder() to construct.
+      private Request(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+        super(builder);
+      }
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+      }
+
+      @java.lang.Override
+      @SuppressWarnings({"unused"})
+      protected java.lang.Object newInstance(
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+        return new Request();
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+      @java.lang.Override
+      public final com.google.protobuf.UnknownFieldSet
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+        return this.unknownFields;
+      }
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.Common.internal_static_cmvr_api_JsonDeviceCommand_Request_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.Common.internal_static_cmvr_api_JsonDeviceCommand_Request_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.Common.JsonDeviceCommand.Request.class, cmvr.api.Common.JsonDeviceCommand.Request.Builder.class);
+      }
+
+      public static final int HEADER_FIELD_NUMBER = 1;
+      private cmvr.api.Common.CommandHeader.Request header_;
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       * @return Whether the header field is set.
+       */
+      @java.lang.Override
+      public boolean hasHeader() {
+        return header_ != null;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       * @return The header.
+       */
+      @java.lang.Override
+      public cmvr.api.Common.CommandHeader.Request getHeader() {
+        return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
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+      /**
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+       */
+      @java.lang.Override
+      public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
+        return getHeader();
+      }
+
+      public static final int REQUEST_JSON_FIELD_NUMBER = 2;
+      private volatile java.lang.Object requestJson_;
+      /**
+       * string request_json = 2;
+       * @return The requestJson.
+       */
+      @java.lang.Override
+      public java.lang.String getRequestJson() {
+        java.lang.Object ref = requestJson_;
+        if (ref instanceof java.lang.String) {
+          return (java.lang.String) ref;
+        } else {
+          com.google.protobuf.ByteString bs = 
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          requestJson_ = s;
+          return s;
+        }
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+      /**
+       * string request_json = 2;
+       * @return The bytes for requestJson.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getRequestJsonBytes() {
+        java.lang.Object ref = requestJson_;
+        if (ref instanceof java.lang.String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          requestJson_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
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+      @java.lang.Override
+      public final boolean isInitialized() {
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+        if (isInitialized == 1) return true;
+        if (isInitialized == 0) return false;
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+        return true;
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+      @java.lang.Override
+      public void writeTo(com.google.protobuf.CodedOutputStream output)
+                          throws java.io.IOException {
+        if (header_ != null) {
+          output.writeMessage(1, getHeader());
+        }
+        if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(requestJson_)) {
+          com.google.protobuf.GeneratedMessageV3.writeString(output, 2, requestJson_);
+        }
+        getUnknownFields().writeTo(output);
+      }
+
+      @java.lang.Override
+      public int getSerializedSize() {
+        int size = memoizedSize;
+        if (size != -1) return size;
+
+        size = 0;
+        if (header_ != null) {
+          size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(1, getHeader());
+        }
+        if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(requestJson_)) {
+          size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, requestJson_);
+        }
+        size += getUnknownFields().getSerializedSize();
+        memoizedSize = size;
+        return size;
+      }
+
+      @java.lang.Override
+      public boolean equals(final java.lang.Object obj) {
+        if (obj == this) {
+         return true;
+        }
+        if (!(obj instanceof cmvr.api.Common.JsonDeviceCommand.Request)) {
+          return super.equals(obj);
+        }
+        cmvr.api.Common.JsonDeviceCommand.Request other = (cmvr.api.Common.JsonDeviceCommand.Request) obj;
+
+        if (hasHeader() != other.hasHeader()) return false;
+        if (hasHeader()) {
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+              .equals(other.getHeader())) return false;
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+        if (!getRequestJson()
+            .equals(other.getRequestJson())) return false;
+        if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+        return true;
+      }
+
+      @java.lang.Override
+      public int hashCode() {
+        if (memoizedHashCode != 0) {
+          return memoizedHashCode;
+        }
+        int hash = 41;
+        hash = (19 * hash) + getDescriptor().hashCode();
+        if (hasHeader()) {
+          hash = (37 * hash) + HEADER_FIELD_NUMBER;
+          hash = (53 * hash) + getHeader().hashCode();
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+        hash = (37 * hash) + REQUEST_JSON_FIELD_NUMBER;
+        hash = (53 * hash) + getRequestJson().hashCode();
+        hash = (29 * hash) + getUnknownFields().hashCode();
+        memoizedHashCode = hash;
+        return hash;
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+      public static cmvr.api.Common.JsonDeviceCommand.Request parseFrom(
+          java.nio.ByteBuffer data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.Common.JsonDeviceCommand.Request parseFrom(
+          java.nio.ByteBuffer data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
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+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.Common.JsonDeviceCommand.Request parseFrom(
+          com.google.protobuf.ByteString data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
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+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
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+          byte[] data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input, extensionRegistry);
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+            .parseDelimitedWithIOException(PARSER, input);
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+          throws java.io.IOException {
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+            .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
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+          com.google.protobuf.CodedInputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
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+      public static cmvr.api.Common.JsonDeviceCommand.Request parseFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input, extensionRegistry);
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+      @java.lang.Override
+      public Builder newBuilderForType() { return newBuilder(); }
+      public static Builder newBuilder() {
+        return DEFAULT_INSTANCE.toBuilder();
+      }
+      public static Builder newBuilder(cmvr.api.Common.JsonDeviceCommand.Request prototype) {
+        return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+      }
+      @java.lang.Override
+      public Builder toBuilder() {
+        return this == DEFAULT_INSTANCE
+            ? new Builder() : new Builder().mergeFrom(this);
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+
+      @java.lang.Override
+      protected Builder newBuilderForType(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
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+        return builder;
+      }
+      /**
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+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageV3.Builder implements
+          // @@protoc_insertion_point(builder_implements:cmvr.api.JsonDeviceCommand.Request)
+          cmvr.api.Common.JsonDeviceCommand.RequestOrBuilder {
+        public static final com.google.protobuf.Descriptors.Descriptor
+            getDescriptor() {
+          return cmvr.api.Common.internal_static_cmvr_api_JsonDeviceCommand_Request_descriptor;
+        }
+
+        @java.lang.Override
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+        // Construct using cmvr.api.Common.JsonDeviceCommand.Request.newBuilder()
+        private Builder() {
+
+        }
+
+        private Builder(
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+        public Builder clear() {
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+        public com.google.protobuf.Descriptors.Descriptor
+            getDescriptorForType() {
+          return cmvr.api.Common.internal_static_cmvr_api_JsonDeviceCommand_Request_descriptor;
+        }
+
+        @java.lang.Override
+        public cmvr.api.Common.JsonDeviceCommand.Request getDefaultInstanceForType() {
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+        }
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+        @java.lang.Override
+        public cmvr.api.Common.JsonDeviceCommand.Request build() {
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+        @java.lang.Override
+        public cmvr.api.Common.JsonDeviceCommand.Request buildPartial() {
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+          if (headerBuilder_ == null) {
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+        public Builder clone() {
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+        }
+        @java.lang.Override
+        public Builder setField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            java.lang.Object value) {
+          return super.setField(field, value);
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+        @java.lang.Override
+        public Builder clearField(
+            com.google.protobuf.Descriptors.FieldDescriptor field) {
+          return super.clearField(field);
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+        @java.lang.Override
+        public Builder clearOneof(
+            com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+          return super.clearOneof(oneof);
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+        @java.lang.Override
+        public Builder setRepeatedField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            int index, java.lang.Object value) {
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+        @java.lang.Override
+        public Builder addRepeatedField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            java.lang.Object value) {
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+        @java.lang.Override
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+          if (other instanceof cmvr.api.Common.JsonDeviceCommand.Request) {
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+            return this;
+          }
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+
+        public Builder mergeFrom(cmvr.api.Common.JsonDeviceCommand.Request other) {
+          if (other == cmvr.api.Common.JsonDeviceCommand.Request.getDefaultInstance()) return this;
+          if (other.hasHeader()) {
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+          return this;
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+        @java.lang.Override
+        public final boolean isInitialized() {
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+        @java.lang.Override
+        public Builder mergeFrom(
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+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws java.io.IOException {
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+            while (!done) {
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+         * @return Whether the header field is set.
+         */
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+          return headerBuilder_ != null || header_ != null;
+        }
+        /**
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+         * @return The header.
+         */
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+        /**
+         * .cmvr.api.CommandHeader.Request header = 1;
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+        public Builder setHeader(cmvr.api.Common.CommandHeader.Request value) {
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+          return this;
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+        public Builder setHeader(
+            cmvr.api.Common.CommandHeader.Request.Builder builderForValue) {
+          if (headerBuilder_ == null) {
+            header_ = builderForValue.build();
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Request header = 1;
+         */
+        public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
+          if (headerBuilder_ == null) {
+            if (header_ != null) {
+              header_ =
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+            } else {
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+            }
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+          } else {
+            headerBuilder_.mergeFrom(value);
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+
+          return this;
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+        /**
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+          if (headerBuilder_ == null) {
+            header_ = null;
+            onChanged();
+          } else {
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+            headerBuilder_ = null;
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+          return this;
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+          }
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+        /**
+         * .cmvr.api.CommandHeader.Request header = 1;
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> 
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+            headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>(
+                    getHeader(),
+                    getParentForChildren(),
+                    isClean());
+            header_ = null;
+          }
+          return headerBuilder_;
+        }
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+        private java.lang.Object requestJson_ = "";
+        /**
+         * string request_json = 2;
+         * @return The requestJson.
+         */
+        public java.lang.String getRequestJson() {
+          java.lang.Object ref = requestJson_;
+          if (!(ref instanceof java.lang.String)) {
+            com.google.protobuf.ByteString bs =
+                (com.google.protobuf.ByteString) ref;
+            java.lang.String s = bs.toStringUtf8();
+            requestJson_ = s;
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+         * @return The bytes for requestJson.
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+            requestJson_ = b;
+            return b;
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+          }
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+        /**
+         * string request_json = 2;
+         * @param value The requestJson to set.
+         * @return This builder for chaining.
+         */
+        public Builder setRequestJson(
+            java.lang.String value) {
+          if (value == null) {
+    throw new NullPointerException();
+  }
+  
+          requestJson_ = value;
+          onChanged();
+          return this;
+        }
+        /**
+         * string request_json = 2;
+         * @return This builder for chaining.
+         */
+        public Builder clearRequestJson() {
+          
+          requestJson_ = getDefaultInstance().getRequestJson();
+          onChanged();
+          return this;
+        }
+        /**
+         * string request_json = 2;
+         * @param value The bytes for requestJson to set.
+         * @return This builder for chaining.
+         */
+        public Builder setRequestJsonBytes(
+            com.google.protobuf.ByteString value) {
+          if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+          
+          requestJson_ = value;
+          onChanged();
+          return this;
+        }
+        @java.lang.Override
+        public final Builder setUnknownFields(
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+        @java.lang.Override
+        public final Builder mergeUnknownFields(
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+
+
+        // @@protoc_insertion_point(builder_scope:cmvr.api.JsonDeviceCommand.Request)
+      }
+
+      // @@protoc_insertion_point(class_scope:cmvr.api.JsonDeviceCommand.Request)
+      private static final cmvr.api.Common.JsonDeviceCommand.Request DEFAULT_INSTANCE;
+      static {
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+        public Request parsePartialFrom(
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+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws com.google.protobuf.InvalidProtocolBufferException {
+          Builder builder = newBuilder();
+          try {
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+          } catch (com.google.protobuf.InvalidProtocolBufferException e) {
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+      public com.google.protobuf.Parser getParserForType() {
+        return PARSER;
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+      @java.lang.Override
+      public cmvr.api.Common.JsonDeviceCommand.Request getDefaultInstanceForType() {
+        return DEFAULT_INSTANCE;
+      }
+
+    }
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+        com.google.protobuf.MessageOrBuilder {
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+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       * @return The header.
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+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
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+
+      /**
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+       * @return The responseJson.
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+      /**
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+       * @return The bytes for responseJson.
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+        FeedbackOrBuilder {
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+      private Feedback(com.google.protobuf.GeneratedMessageV3.Builder builder) {
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+      @SuppressWarnings({"unused"})
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+       * @return Whether the header field is set.
+       */
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+       * @return The header.
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+       * @return The responseJson.
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+      public java.lang.String getResponseJson() {
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+      public com.google.protobuf.ByteString
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+        java.lang.Object ref = responseJson_;
+        if (ref instanceof java.lang.String) {
+          com.google.protobuf.ByteString b = 
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+                  (java.lang.String) ref);
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+      @java.lang.Override
+      public boolean equals(final java.lang.Object obj) {
+        if (obj == this) {
+         return true;
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+        if (!(obj instanceof cmvr.api.Common.JsonDeviceCommand.Feedback)) {
+          return super.equals(obj);
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+        cmvr.api.Common.JsonDeviceCommand.Feedback other = (cmvr.api.Common.JsonDeviceCommand.Feedback) obj;
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+        if (hasHeader() != other.hasHeader()) return false;
+        if (hasHeader()) {
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+        return true;
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+      @java.lang.Override
+      public int hashCode() {
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+          return memoizedHashCode;
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+        int hash = 41;
+        hash = (19 * hash) + getDescriptor().hashCode();
+        if (hasHeader()) {
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+        return PARSER.parseFrom(data);
+      }
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+          java.nio.ByteBuffer data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
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+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.Common.JsonDeviceCommand.Feedback parseFrom(
+          com.google.protobuf.ByteString data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
+      }
+      public static cmvr.api.Common.JsonDeviceCommand.Feedback parseFrom(byte[] data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.Common.JsonDeviceCommand.Feedback parseFrom(
+          byte[] data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
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+          throws java.io.IOException {
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+      public static cmvr.api.Common.JsonDeviceCommand.Feedback parseFrom(
+          java.io.InputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input, extensionRegistry);
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+      public static cmvr.api.Common.JsonDeviceCommand.Feedback parseDelimitedFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseDelimitedWithIOException(PARSER, input);
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+      public static cmvr.api.Common.JsonDeviceCommand.Feedback parseDelimitedFrom(
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
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+      public static cmvr.api.Common.JsonDeviceCommand.Feedback parseFrom(
+          com.google.protobuf.CodedInputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
+      }
+      public static cmvr.api.Common.JsonDeviceCommand.Feedback parseFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input, extensionRegistry);
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+      @java.lang.Override
+      public Builder newBuilderForType() { return newBuilder(); }
+      public static Builder newBuilder() {
+        return DEFAULT_INSTANCE.toBuilder();
+      }
+      public static Builder newBuilder(cmvr.api.Common.JsonDeviceCommand.Feedback prototype) {
+        return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+      }
+      @java.lang.Override
+      public Builder toBuilder() {
+        return this == DEFAULT_INSTANCE
+            ? new Builder() : new Builder().mergeFrom(this);
+      }
+
+      @java.lang.Override
+      protected Builder newBuilderForType(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        Builder builder = new Builder(parent);
+        return builder;
+      }
+      /**
+       * Protobuf type {@code cmvr.api.JsonDeviceCommand.Feedback}
+       */
+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageV3.Builder implements
+          // @@protoc_insertion_point(builder_implements:cmvr.api.JsonDeviceCommand.Feedback)
+          cmvr.api.Common.JsonDeviceCommand.FeedbackOrBuilder {
+        public static final com.google.protobuf.Descriptors.Descriptor
+            getDescriptor() {
+          return cmvr.api.Common.internal_static_cmvr_api_JsonDeviceCommand_Feedback_descriptor;
+        }
+
+        @java.lang.Override
+        protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+            internalGetFieldAccessorTable() {
+          return cmvr.api.Common.internal_static_cmvr_api_JsonDeviceCommand_Feedback_fieldAccessorTable
+              .ensureFieldAccessorsInitialized(
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+        }
+
+        // Construct using cmvr.api.Common.JsonDeviceCommand.Feedback.newBuilder()
+        private Builder() {
+
+        }
+
+        private Builder(
+            com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+          super(parent);
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+        }
+        @java.lang.Override
+        public Builder clear() {
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+        @java.lang.Override
+        public com.google.protobuf.Descriptors.Descriptor
+            getDescriptorForType() {
+          return cmvr.api.Common.internal_static_cmvr_api_JsonDeviceCommand_Feedback_descriptor;
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+
+        @java.lang.Override
+        public cmvr.api.Common.JsonDeviceCommand.Feedback getDefaultInstanceForType() {
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+        @java.lang.Override
+        public cmvr.api.Common.JsonDeviceCommand.Feedback build() {
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+        @java.lang.Override
+        public cmvr.api.Common.JsonDeviceCommand.Feedback buildPartial() {
+          cmvr.api.Common.JsonDeviceCommand.Feedback result = new cmvr.api.Common.JsonDeviceCommand.Feedback(this);
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+        public Builder clone() {
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+        public Builder setField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            java.lang.Object value) {
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+        @java.lang.Override
+        public Builder clearField(
+            com.google.protobuf.Descriptors.FieldDescriptor field) {
+          return super.clearField(field);
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+        @java.lang.Override
+        public Builder clearOneof(
+            com.google.protobuf.Descriptors.OneofDescriptor oneof) {
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+        @java.lang.Override
+        public Builder setRepeatedField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            int index, java.lang.Object value) {
+          return super.setRepeatedField(field, index, value);
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+        @java.lang.Override
+        public Builder addRepeatedField(
+            com.google.protobuf.Descriptors.FieldDescriptor field,
+            java.lang.Object value) {
+          return super.addRepeatedField(field, value);
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+        @java.lang.Override
+        public Builder mergeFrom(com.google.protobuf.Message other) {
+          if (other instanceof cmvr.api.Common.JsonDeviceCommand.Feedback) {
+            return mergeFrom((cmvr.api.Common.JsonDeviceCommand.Feedback)other);
+          } else {
+            super.mergeFrom(other);
+            return this;
+          }
+        }
+
+        public Builder mergeFrom(cmvr.api.Common.JsonDeviceCommand.Feedback other) {
+          if (other == cmvr.api.Common.JsonDeviceCommand.Feedback.getDefaultInstance()) return this;
+          if (other.hasHeader()) {
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+            onChanged();
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+          this.mergeUnknownFields(other.getUnknownFields());
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+          return this;
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+
+        @java.lang.Override
+        public final boolean isInitialized() {
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+
+        @java.lang.Override
+        public Builder mergeFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws java.io.IOException {
+          if (extensionRegistry == null) {
+            throw new java.lang.NullPointerException();
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+          try {
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+            while (!done) {
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+                case 10: {
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+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> headerBuilder_;
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         * @return Whether the header field is set.
+         */
+        public boolean hasHeader() {
+          return headerBuilder_ != null || header_ != null;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         * @return The header.
+         */
+        public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+          if (headerBuilder_ == null) {
+            return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+          } else {
+            return headerBuilder_.getMessage();
+          }
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
+            if (value == null) {
+              throw new NullPointerException();
+            }
+            header_ = value;
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(value);
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        public Builder setHeader(
+            cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
+          if (headerBuilder_ == null) {
+            header_ = builderForValue.build();
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
+            if (header_ != null) {
+              header_ =
+                cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
+            } else {
+              header_ = value;
+            }
+            onChanged();
+          } else {
+            headerBuilder_.mergeFrom(value);
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        public Builder clearHeader() {
+          if (headerBuilder_ == null) {
+            header_ = null;
+            onChanged();
+          } else {
+            header_ = null;
+            headerBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+          
+          onChanged();
+          return getHeaderFieldBuilder().getBuilder();
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+          if (headerBuilder_ != null) {
+            return headerBuilder_.getMessageOrBuilder();
+          } else {
+            return header_ == null ?
+                cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+          }
+        }
+        /**
+         * .cmvr.api.CommandHeader.Feedback header = 1;
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> 
+            getHeaderFieldBuilder() {
+          if (headerBuilder_ == null) {
+            headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+                cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>(
+                    getHeader(),
+                    getParentForChildren(),
+                    isClean());
+            header_ = null;
+          }
+          return headerBuilder_;
+        }
+
+        private java.lang.Object responseJson_ = "";
+        /**
+         * string response_json = 2;
+         * @return The responseJson.
+         */
+        public java.lang.String getResponseJson() {
+          java.lang.Object ref = responseJson_;
+          if (!(ref instanceof java.lang.String)) {
+            com.google.protobuf.ByteString bs =
+                (com.google.protobuf.ByteString) ref;
+            java.lang.String s = bs.toStringUtf8();
+            responseJson_ = s;
+            return s;
+          } else {
+            return (java.lang.String) ref;
+          }
+        }
+        /**
+         * string response_json = 2;
+         * @return The bytes for responseJson.
+         */
+        public com.google.protobuf.ByteString
+            getResponseJsonBytes() {
+          java.lang.Object ref = responseJson_;
+          if (ref instanceof String) {
+            com.google.protobuf.ByteString b = 
+                com.google.protobuf.ByteString.copyFromUtf8(
+                    (java.lang.String) ref);
+            responseJson_ = b;
+            return b;
+          } else {
+            return (com.google.protobuf.ByteString) ref;
+          }
+        }
+        /**
+         * string response_json = 2;
+         * @param value The responseJson to set.
+         * @return This builder for chaining.
+         */
+        public Builder setResponseJson(
+            java.lang.String value) {
+          if (value == null) {
+    throw new NullPointerException();
+  }
+  
+          responseJson_ = value;
+          onChanged();
+          return this;
+        }
+        /**
+         * string response_json = 2;
+         * @return This builder for chaining.
+         */
+        public Builder clearResponseJson() {
+          
+          responseJson_ = getDefaultInstance().getResponseJson();
+          onChanged();
+          return this;
+        }
+        /**
+         * string response_json = 2;
+         * @param value The bytes for responseJson to set.
+         * @return This builder for chaining.
+         */
+        public Builder setResponseJsonBytes(
+            com.google.protobuf.ByteString value) {
+          if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+          
+          responseJson_ = value;
+          onChanged();
+          return this;
+        }
+        @java.lang.Override
+        public final Builder setUnknownFields(
+            final com.google.protobuf.UnknownFieldSet unknownFields) {
+          return super.setUnknownFields(unknownFields);
+        }
+
+        @java.lang.Override
+        public final Builder mergeUnknownFields(
+            final com.google.protobuf.UnknownFieldSet unknownFields) {
+          return super.mergeUnknownFields(unknownFields);
+        }
+
+
+        // @@protoc_insertion_point(builder_scope:cmvr.api.JsonDeviceCommand.Feedback)
+      }
+
+      // @@protoc_insertion_point(class_scope:cmvr.api.JsonDeviceCommand.Feedback)
+      private static final cmvr.api.Common.JsonDeviceCommand.Feedback DEFAULT_INSTANCE;
+      static {
+        DEFAULT_INSTANCE = new cmvr.api.Common.JsonDeviceCommand.Feedback();
+      }
+
+      public static cmvr.api.Common.JsonDeviceCommand.Feedback getDefaultInstance() {
+        return DEFAULT_INSTANCE;
+      }
+
+      private static final com.google.protobuf.Parser
+          PARSER = new com.google.protobuf.AbstractParser() {
+        @java.lang.Override
+        public Feedback parsePartialFrom(
+            com.google.protobuf.CodedInputStream input,
+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws com.google.protobuf.InvalidProtocolBufferException {
+          Builder builder = newBuilder();
+          try {
+            builder.mergeFrom(input, extensionRegistry);
+          } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+            throw e.setUnfinishedMessage(builder.buildPartial());
+          } catch (com.google.protobuf.UninitializedMessageException e) {
+            throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+          } catch (java.io.IOException e) {
+            throw new com.google.protobuf.InvalidProtocolBufferException(e)
+                .setUnfinishedMessage(builder.buildPartial());
+          }
+          return builder.buildPartial();
+        }
+      };
+
+      public static com.google.protobuf.Parser parser() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Parser getParserForType() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public cmvr.api.Common.JsonDeviceCommand.Feedback getDefaultInstanceForType() {
+        return DEFAULT_INSTANCE;
+      }
+
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.Common.JsonDeviceCommand)) {
+        return super.equals(obj);
+      }
+      cmvr.api.Common.JsonDeviceCommand other = (cmvr.api.Common.JsonDeviceCommand) obj;
+
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
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+    public static cmvr.api.Common.JsonDeviceCommand parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.Common.JsonDeviceCommand parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.Common.JsonDeviceCommand parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.Common.JsonDeviceCommand parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.Common.JsonDeviceCommand parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.Common.JsonDeviceCommand parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.Common.JsonDeviceCommand parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.Common.JsonDeviceCommand parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.Common.JsonDeviceCommand parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.Common.JsonDeviceCommand parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.Common.JsonDeviceCommand parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.Common.JsonDeviceCommand parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.Common.JsonDeviceCommand prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.JsonDeviceCommand}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.JsonDeviceCommand)
+        cmvr.api.Common.JsonDeviceCommandOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.Common.internal_static_cmvr_api_JsonDeviceCommand_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.Common.internal_static_cmvr_api_JsonDeviceCommand_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.Common.JsonDeviceCommand.class, cmvr.api.Common.JsonDeviceCommand.Builder.class);
+      }
+
+      // Construct using cmvr.api.Common.JsonDeviceCommand.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.Common.internal_static_cmvr_api_JsonDeviceCommand_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.Common.JsonDeviceCommand getDefaultInstanceForType() {
+        return cmvr.api.Common.JsonDeviceCommand.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.Common.JsonDeviceCommand build() {
+        cmvr.api.Common.JsonDeviceCommand result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.Common.JsonDeviceCommand buildPartial() {
+        cmvr.api.Common.JsonDeviceCommand result = new cmvr.api.Common.JsonDeviceCommand(this);
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.Common.JsonDeviceCommand) {
+          return mergeFrom((cmvr.api.Common.JsonDeviceCommand)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.Common.JsonDeviceCommand other) {
+        if (other == cmvr.api.Common.JsonDeviceCommand.getDefaultInstance()) return this;
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.JsonDeviceCommand)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.JsonDeviceCommand)
+    private static final cmvr.api.Common.JsonDeviceCommand DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.Common.JsonDeviceCommand();
+    }
+
+    public static cmvr.api.Common.JsonDeviceCommand getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public JsonDeviceCommand parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.Common.JsonDeviceCommand getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
   private static final com.google.protobuf.Descriptors.Descriptor
     internal_static_cmvr_api_DeviceLifecycle_descriptor;
   private static final 
@@ -5420,6 +7321,21 @@ public final class Common {
   private static final 
     com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
       internal_static_cmvr_api_ConfigParam_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_JsonDeviceCommand_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_JsonDeviceCommand_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_JsonDeviceCommand_Request_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_JsonDeviceCommand_Request_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_JsonDeviceCommand_Feedback_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_JsonDeviceCommand_Feedback_fieldAccessorTable;
 
   public static com.google.protobuf.Descriptors.FileDescriptor
       getDescriptor() {
@@ -5440,16 +7356,21 @@ public final class Common {
       "2\032.google.protobuf.Timestamp\032a\n\010Feedback" +
       "\022\017\n\007success\030\001 \001(\010\022\025\n\rerror_message\030\002 \001(\t" +
       "\022-\n\ttimestamp\030\003 \001(\0132\032.google.protobuf.Ti" +
-      "mestamp\"\324\001\n\tAudioData\022\014\n\004data\030\001 \001(\014\022\023\n\013s" +
+      "mestamp\"\336\001\n\tAudioData\022\014\n\004data\030\001 \001(\014\022\023\n\013s" +
       "ample_rate\030\002 \001(\005\022\020\n\010channels\030\003 \001(\005\022/\n\006fo" +
       "rmat\030\004 \001(\0162\037.cmvr.api.AudioData.AudioFor" +
       "mat\022\r\n\005codec\030\005 \001(\t\022\013\n\003pts\030\006 \001(\003\022\022\n\nnb_sa" +
-      "mples\030\007 \001(\005\"1\n\013AudioFormat\022\007\n\003PCM\020\000\022\007\n\003M" +
-      "P3\020\001\022\007\n\003AAC\020\002\022\007\n\003WAV\020\003\"\242\001\n\013ConfigParam\022\022" +
-      "\n\nparam_name\030\001 \001(\t\022\023\n\tint_value\030\002 \001(\005H\000\022" +
-      "\026\n\014double_value\030\003 \001(\001H\000\022\026\n\014string_value\030" +
-      "\004 \001(\tH\000\022\024\n\nbool_value\030\005 \001(\010H\000\022\025\n\013bytes_v" +
-      "alue\030\006 \001(\014H\000B\r\n\013param_valueb\006proto3"
+      "mples\030\007 \001(\005\";\n\013AudioFormat\022\007\n\003PCM\020\000\022\007\n\003M" +
+      "P3\020\001\022\007\n\003AAC\020\002\022\007\n\003WAV\020\003\022\010\n\004OPUS\020\004\"\242\001\n\013Con" +
+      "figParam\022\022\n\nparam_name\030\001 \001(\t\022\023\n\tint_valu" +
+      "e\030\002 \001(\005H\000\022\026\n\014double_value\030\003 \001(\001H\000\022\026\n\014str" +
+      "ing_value\030\004 \001(\tH\000\022\024\n\nbool_value\030\005 \001(\010H\000\022" +
+      "\025\n\013bytes_value\030\006 \001(\014H\000B\r\n\013param_value\"\272\001" +
+      "\n\021JsonDeviceCommand\032P\n\007Request\022/\n\006header" +
+      "\030\001 \001(\0132\037.cmvr.api.CommandHeader.Request\022" +
+      "\024\n\014request_json\030\002 \001(\t\032S\n\010Feedback\0220\n\006hea" +
+      "der\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedb" +
+      "ack\022\025\n\rresponse_json\030\002 \001(\tb\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
@@ -5492,6 +7413,24 @@ public final class Common {
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_ConfigParam_descriptor,
         new java.lang.String[] { "ParamName", "IntValue", "DoubleValue", "StringValue", "BoolValue", "BytesValue", "ParamValue", });
+    internal_static_cmvr_api_JsonDeviceCommand_descriptor =
+      getDescriptor().getMessageTypes().get(4);
+    internal_static_cmvr_api_JsonDeviceCommand_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_JsonDeviceCommand_descriptor,
+        new java.lang.String[] { });
+    internal_static_cmvr_api_JsonDeviceCommand_Request_descriptor =
+      internal_static_cmvr_api_JsonDeviceCommand_descriptor.getNestedTypes().get(0);
+    internal_static_cmvr_api_JsonDeviceCommand_Request_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_JsonDeviceCommand_Request_descriptor,
+        new java.lang.String[] { "Header", "RequestJson", });
+    internal_static_cmvr_api_JsonDeviceCommand_Feedback_descriptor =
+      internal_static_cmvr_api_JsonDeviceCommand_descriptor.getNestedTypes().get(1);
+    internal_static_cmvr_api_JsonDeviceCommand_Feedback_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_JsonDeviceCommand_Feedback_descriptor,
+        new java.lang.String[] { "Header", "ResponseJson", });
     com.google.protobuf.TimestampProto.getDescriptor();
   }
 
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/DexhandCommand.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/DexhandCommand.java
index 60117a3..9ecab84 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/DexhandCommand.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/DexhandCommand.java
@@ -596,8 +596,8 @@ public final class DexhandCommand {
 
   }
 
-  public interface RH56DFTPDexHandOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:cmvr.api.RH56DFTPDexHand)
+  public interface FreedomStateOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.FreedomState)
       com.google.protobuf.MessageOrBuilder {
 
     /**
@@ -722,18 +722,18 @@ public final class DexhandCommand {
         getErrorMessageBytes(int index);
   }
   /**
-   * Protobuf type {@code cmvr.api.RH56DFTPDexHand}
+   * Protobuf type {@code cmvr.api.FreedomState}
    */
-  public static final class RH56DFTPDexHand extends
+  public static final class FreedomState extends
       com.google.protobuf.GeneratedMessageV3 implements
-      // @@protoc_insertion_point(message_implements:cmvr.api.RH56DFTPDexHand)
-      RH56DFTPDexHandOrBuilder {
+      // @@protoc_insertion_point(message_implements:cmvr.api.FreedomState)
+      FreedomStateOrBuilder {
   private static final long serialVersionUID = 0L;
-    // Use RH56DFTPDexHand.newBuilder() to construct.
-    private RH56DFTPDexHand(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+    // Use FreedomState.newBuilder() to construct.
+    private FreedomState(com.google.protobuf.GeneratedMessageV3.Builder builder) {
       super(builder);
     }
-    private RH56DFTPDexHand() {
+    private FreedomState() {
       errorMessage_ = com.google.protobuf.LazyStringArrayList.EMPTY;
     }
 
@@ -741,7 +741,7 @@ public final class DexhandCommand {
     @SuppressWarnings({"unused"})
     protected java.lang.Object newInstance(
         UnusedPrivateParameter unused) {
-      return new RH56DFTPDexHand();
+      return new FreedomState();
     }
 
     @java.lang.Override
@@ -751,15 +751,15 @@ public final class DexhandCommand {
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.api.DexhandCommand.internal_static_cmvr_api_RH56DFTPDexHand_descriptor;
+      return cmvr.api.DexhandCommand.internal_static_cmvr_api_FreedomState_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.api.DexhandCommand.internal_static_cmvr_api_RH56DFTPDexHand_fieldAccessorTable
+      return cmvr.api.DexhandCommand.internal_static_cmvr_api_FreedomState_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.api.DexhandCommand.RH56DFTPDexHand.class, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder.class);
+              cmvr.api.DexhandCommand.FreedomState.class, cmvr.api.DexhandCommand.FreedomState.Builder.class);
     }
 
     public static final int DOF_ID_FIELD_NUMBER = 1;
@@ -1033,10 +1033,10 @@ public final class DexhandCommand {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.api.DexhandCommand.RH56DFTPDexHand)) {
+      if (!(obj instanceof cmvr.api.DexhandCommand.FreedomState)) {
         return super.equals(obj);
       }
-      cmvr.api.DexhandCommand.RH56DFTPDexHand other = (cmvr.api.DexhandCommand.RH56DFTPDexHand) obj;
+      cmvr.api.DexhandCommand.FreedomState other = (cmvr.api.DexhandCommand.FreedomState) obj;
 
       if (getDofId()
           != other.getDofId()) return false;
@@ -1092,69 +1092,69 @@ public final class DexhandCommand {
       return hash;
     }
 
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
+    public static cmvr.api.DexhandCommand.FreedomState parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
+    public static cmvr.api.DexhandCommand.FreedomState parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
+    public static cmvr.api.DexhandCommand.FreedomState parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
+    public static cmvr.api.DexhandCommand.FreedomState parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(byte[] data)
+    public static cmvr.api.DexhandCommand.FreedomState parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
+    public static cmvr.api.DexhandCommand.FreedomState parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(java.io.InputStream input)
+    public static cmvr.api.DexhandCommand.FreedomState parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
+    public static cmvr.api.DexhandCommand.FreedomState parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.api.DexhandCommand.FreedomState parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseDelimitedFrom(
+    public static cmvr.api.DexhandCommand.FreedomState parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
+    public static cmvr.api.DexhandCommand.FreedomState parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand parseFrom(
+    public static cmvr.api.DexhandCommand.FreedomState parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -1167,7 +1167,7 @@ public final class DexhandCommand {
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.api.DexhandCommand.RH56DFTPDexHand prototype) {
+    public static Builder newBuilder(cmvr.api.DexhandCommand.FreedomState prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -1183,26 +1183,26 @@ public final class DexhandCommand {
       return builder;
     }
     /**
-     * Protobuf type {@code cmvr.api.RH56DFTPDexHand}
+     * Protobuf type {@code cmvr.api.FreedomState}
      */
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
-        // @@protoc_insertion_point(builder_implements:cmvr.api.RH56DFTPDexHand)
-        cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder {
+        // @@protoc_insertion_point(builder_implements:cmvr.api.FreedomState)
+        cmvr.api.DexhandCommand.FreedomStateOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.api.DexhandCommand.internal_static_cmvr_api_RH56DFTPDexHand_descriptor;
+        return cmvr.api.DexhandCommand.internal_static_cmvr_api_FreedomState_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.api.DexhandCommand.internal_static_cmvr_api_RH56DFTPDexHand_fieldAccessorTable
+        return cmvr.api.DexhandCommand.internal_static_cmvr_api_FreedomState_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.api.DexhandCommand.RH56DFTPDexHand.class, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder.class);
+                cmvr.api.DexhandCommand.FreedomState.class, cmvr.api.DexhandCommand.FreedomState.Builder.class);
       }
 
-      // Construct using cmvr.api.DexhandCommand.RH56DFTPDexHand.newBuilder()
+      // Construct using cmvr.api.DexhandCommand.FreedomState.newBuilder()
       private Builder() {
 
       }
@@ -1239,17 +1239,17 @@ public final class DexhandCommand {
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.api.DexhandCommand.internal_static_cmvr_api_RH56DFTPDexHand_descriptor;
+        return cmvr.api.DexhandCommand.internal_static_cmvr_api_FreedomState_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.api.DexhandCommand.RH56DFTPDexHand getDefaultInstanceForType() {
-        return cmvr.api.DexhandCommand.RH56DFTPDexHand.getDefaultInstance();
+      public cmvr.api.DexhandCommand.FreedomState getDefaultInstanceForType() {
+        return cmvr.api.DexhandCommand.FreedomState.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.api.DexhandCommand.RH56DFTPDexHand build() {
-        cmvr.api.DexhandCommand.RH56DFTPDexHand result = buildPartial();
+      public cmvr.api.DexhandCommand.FreedomState build() {
+        cmvr.api.DexhandCommand.FreedomState result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -1257,8 +1257,8 @@ public final class DexhandCommand {
       }
 
       @java.lang.Override
-      public cmvr.api.DexhandCommand.RH56DFTPDexHand buildPartial() {
-        cmvr.api.DexhandCommand.RH56DFTPDexHand result = new cmvr.api.DexhandCommand.RH56DFTPDexHand(this);
+      public cmvr.api.DexhandCommand.FreedomState buildPartial() {
+        cmvr.api.DexhandCommand.FreedomState result = new cmvr.api.DexhandCommand.FreedomState(this);
         int from_bitField0_ = bitField0_;
         result.dofId_ = dofId_;
         result.angle_ = angle_;
@@ -1311,16 +1311,16 @@ public final class DexhandCommand {
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.api.DexhandCommand.RH56DFTPDexHand) {
-          return mergeFrom((cmvr.api.DexhandCommand.RH56DFTPDexHand)other);
+        if (other instanceof cmvr.api.DexhandCommand.FreedomState) {
+          return mergeFrom((cmvr.api.DexhandCommand.FreedomState)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.api.DexhandCommand.RH56DFTPDexHand other) {
-        if (other == cmvr.api.DexhandCommand.RH56DFTPDexHand.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.api.DexhandCommand.FreedomState other) {
+        if (other == cmvr.api.DexhandCommand.FreedomState.getDefaultInstance()) return this;
         if (other.getDofId() != 0) {
           setDofId(other.getDofId());
         }
@@ -1946,23 +1946,23 @@ public final class DexhandCommand {
       }
 
 
-      // @@protoc_insertion_point(builder_scope:cmvr.api.RH56DFTPDexHand)
+      // @@protoc_insertion_point(builder_scope:cmvr.api.FreedomState)
     }
 
-    // @@protoc_insertion_point(class_scope:cmvr.api.RH56DFTPDexHand)
-    private static final cmvr.api.DexhandCommand.RH56DFTPDexHand DEFAULT_INSTANCE;
+    // @@protoc_insertion_point(class_scope:cmvr.api.FreedomState)
+    private static final cmvr.api.DexhandCommand.FreedomState DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.api.DexhandCommand.RH56DFTPDexHand();
+      DEFAULT_INSTANCE = new cmvr.api.DexhandCommand.FreedomState();
     }
 
-    public static cmvr.api.DexhandCommand.RH56DFTPDexHand getDefaultInstance() {
+    public static cmvr.api.DexhandCommand.FreedomState getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
-    private static final com.google.protobuf.Parser
-        PARSER = new com.google.protobuf.AbstractParser() {
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
       @java.lang.Override
-      public RH56DFTPDexHand parsePartialFrom(
+      public FreedomState parsePartialFrom(
           com.google.protobuf.CodedInputStream input,
           com.google.protobuf.ExtensionRegistryLite extensionRegistry)
           throws com.google.protobuf.InvalidProtocolBufferException {
@@ -1981,17 +1981,17 @@ public final class DexhandCommand {
       }
     };
 
-    public static com.google.protobuf.Parser parser() {
+    public static com.google.protobuf.Parser parser() {
       return PARSER;
     }
 
     @java.lang.Override
-    public com.google.protobuf.Parser getParserForType() {
+    public com.google.protobuf.Parser getParserForType() {
       return PARSER;
     }
 
     @java.lang.Override
-    public cmvr.api.DexhandCommand.RH56DFTPDexHand getDefaultInstanceForType() {
+    public cmvr.api.DexhandCommand.FreedomState getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -4577,24 +4577,24 @@ public final class DexhandCommand {
      * 包含多个自由度状态
      * 

      *
-     * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+     * repeated .cmvr.api.FreedomState hands = 2;
      */
-    java.util.List 
+    java.util.List 
         getHandsList();
     /**
      * 
      * 包含多个自由度状态
      * 

      *
-     * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+     * repeated .cmvr.api.FreedomState hands = 2;
      */
-    cmvr.api.DexhandCommand.RH56DFTPDexHand getHands(int index);
+    cmvr.api.DexhandCommand.FreedomState getHands(int index);
     /**
      * 
      * 包含多个自由度状态
      * 

      *
-     * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+     * repeated .cmvr.api.FreedomState hands = 2;
      */
     int getHandsCount();
     /**
@@ -4602,18 +4602,18 @@ public final class DexhandCommand {
      * 包含多个自由度状态
      * 

      *
-     * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+     * repeated .cmvr.api.FreedomState hands = 2;
      */
-    java.util.List 
+    java.util.List 
         getHandsOrBuilderList();
     /**
      * 
      * 包含多个自由度状态
      * 

      *
-     * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+     * repeated .cmvr.api.FreedomState hands = 2;
      */
-    cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder getHandsOrBuilder(
+    cmvr.api.DexhandCommand.FreedomStateOrBuilder getHandsOrBuilder(
         int index);
   }
   /**
@@ -4673,16 +4673,16 @@ public final class DexhandCommand {
     }
 
     public static final int HANDS_FIELD_NUMBER = 2;
-    private java.util.List hands_;
+    private java.util.List hands_;
     /**
      * 
      * 包含多个自由度状态
      * 

      *
-     * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+     * repeated .cmvr.api.FreedomState hands = 2;
      */
     @java.lang.Override
-    public java.util.List getHandsList() {
+    public java.util.List getHandsList() {
       return hands_;
     }
     /**
@@ -4690,10 +4690,10 @@ public final class DexhandCommand {
      * 包含多个自由度状态
      * 

      *
-     * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+     * repeated .cmvr.api.FreedomState hands = 2;
      */
     @java.lang.Override
-    public java.util.List 
+    public java.util.List 
         getHandsOrBuilderList() {
       return hands_;
     }
@@ -4702,7 +4702,7 @@ public final class DexhandCommand {
      * 包含多个自由度状态
      * 

      *
-     * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+     * repeated .cmvr.api.FreedomState hands = 2;
      */
     @java.lang.Override
     public int getHandsCount() {
@@ -4713,10 +4713,10 @@ public final class DexhandCommand {
      * 包含多个自由度状态
      * 

      *
-     * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+     * repeated .cmvr.api.FreedomState hands = 2;
      */
     @java.lang.Override
-    public cmvr.api.DexhandCommand.RH56DFTPDexHand getHands(int index) {
+    public cmvr.api.DexhandCommand.FreedomState getHands(int index) {
       return hands_.get(index);
     }
     /**
@@ -4724,10 +4724,10 @@ public final class DexhandCommand {
      * 包含多个自由度状态
      * 

      *
-     * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+     * repeated .cmvr.api.FreedomState hands = 2;
      */
     @java.lang.Override
-    public cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder getHandsOrBuilder(
+    public cmvr.api.DexhandCommand.FreedomStateOrBuilder getHandsOrBuilder(
         int index) {
       return hands_.get(index);
     }
@@ -5089,9 +5089,9 @@ public final class DexhandCommand {
                 break;
               } // case 8
               case 18: {
-                cmvr.api.DexhandCommand.RH56DFTPDexHand m =
+                cmvr.api.DexhandCommand.FreedomState m =
                     input.readMessage(
-                        cmvr.api.DexhandCommand.RH56DFTPDexHand.parser(),
+                        cmvr.api.DexhandCommand.FreedomState.parser(),
                         extensionRegistry);
                 if (handsBuilder_ == null) {
                   ensureHandsIsMutable();
@@ -5161,26 +5161,26 @@ public final class DexhandCommand {
         return this;
       }
 
-      private java.util.List hands_ =
+      private java.util.List hands_ =
         java.util.Collections.emptyList();
       private void ensureHandsIsMutable() {
         if (!((bitField0_ & 0x00000001) != 0)) {
-          hands_ = new java.util.ArrayList(hands_);
+          hands_ = new java.util.ArrayList(hands_);
           bitField0_ |= 0x00000001;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.api.DexhandCommand.RH56DFTPDexHand, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder, cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder> handsBuilder_;
+          cmvr.api.DexhandCommand.FreedomState, cmvr.api.DexhandCommand.FreedomState.Builder, cmvr.api.DexhandCommand.FreedomStateOrBuilder> handsBuilder_;
 
       /**
        * 
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
-      public java.util.List getHandsList() {
+      public java.util.List getHandsList() {
         if (handsBuilder_ == null) {
           return java.util.Collections.unmodifiableList(hands_);
         } else {
@@ -5192,7 +5192,7 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
       public int getHandsCount() {
         if (handsBuilder_ == null) {
@@ -5206,9 +5206,9 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
-      public cmvr.api.DexhandCommand.RH56DFTPDexHand getHands(int index) {
+      public cmvr.api.DexhandCommand.FreedomState getHands(int index) {
         if (handsBuilder_ == null) {
           return hands_.get(index);
         } else {
@@ -5220,10 +5220,10 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
       public Builder setHands(
-          int index, cmvr.api.DexhandCommand.RH56DFTPDexHand value) {
+          int index, cmvr.api.DexhandCommand.FreedomState value) {
         if (handsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -5241,10 +5241,10 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
       public Builder setHands(
-          int index, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder builderForValue) {
+          int index, cmvr.api.DexhandCommand.FreedomState.Builder builderForValue) {
         if (handsBuilder_ == null) {
           ensureHandsIsMutable();
           hands_.set(index, builderForValue.build());
@@ -5259,9 +5259,9 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
-      public Builder addHands(cmvr.api.DexhandCommand.RH56DFTPDexHand value) {
+      public Builder addHands(cmvr.api.DexhandCommand.FreedomState value) {
         if (handsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -5279,10 +5279,10 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
       public Builder addHands(
-          int index, cmvr.api.DexhandCommand.RH56DFTPDexHand value) {
+          int index, cmvr.api.DexhandCommand.FreedomState value) {
         if (handsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -5300,10 +5300,10 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
       public Builder addHands(
-          cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder builderForValue) {
+          cmvr.api.DexhandCommand.FreedomState.Builder builderForValue) {
         if (handsBuilder_ == null) {
           ensureHandsIsMutable();
           hands_.add(builderForValue.build());
@@ -5318,10 +5318,10 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
       public Builder addHands(
-          int index, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder builderForValue) {
+          int index, cmvr.api.DexhandCommand.FreedomState.Builder builderForValue) {
         if (handsBuilder_ == null) {
           ensureHandsIsMutable();
           hands_.add(index, builderForValue.build());
@@ -5336,10 +5336,10 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
       public Builder addAllHands(
-          java.lang.Iterable values) {
+          java.lang.Iterable values) {
         if (handsBuilder_ == null) {
           ensureHandsIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -5355,7 +5355,7 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
       public Builder clearHands() {
         if (handsBuilder_ == null) {
@@ -5372,7 +5372,7 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
       public Builder removeHands(int index) {
         if (handsBuilder_ == null) {
@@ -5389,9 +5389,9 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
-      public cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder getHandsBuilder(
+      public cmvr.api.DexhandCommand.FreedomState.Builder getHandsBuilder(
           int index) {
         return getHandsFieldBuilder().getBuilder(index);
       }
@@ -5400,9 +5400,9 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
-      public cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder getHandsOrBuilder(
+      public cmvr.api.DexhandCommand.FreedomStateOrBuilder getHandsOrBuilder(
           int index) {
         if (handsBuilder_ == null) {
           return hands_.get(index);  } else {
@@ -5414,9 +5414,9 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
-      public java.util.List 
+      public java.util.List 
            getHandsOrBuilderList() {
         if (handsBuilder_ != null) {
           return handsBuilder_.getMessageOrBuilderList();
@@ -5429,41 +5429,41 @@ public final class DexhandCommand {
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
-      public cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder addHandsBuilder() {
+      public cmvr.api.DexhandCommand.FreedomState.Builder addHandsBuilder() {
         return getHandsFieldBuilder().addBuilder(
-            cmvr.api.DexhandCommand.RH56DFTPDexHand.getDefaultInstance());
+            cmvr.api.DexhandCommand.FreedomState.getDefaultInstance());
       }
       /**
        * 
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
-      public cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder addHandsBuilder(
+      public cmvr.api.DexhandCommand.FreedomState.Builder addHandsBuilder(
           int index) {
         return getHandsFieldBuilder().addBuilder(
-            index, cmvr.api.DexhandCommand.RH56DFTPDexHand.getDefaultInstance());
+            index, cmvr.api.DexhandCommand.FreedomState.getDefaultInstance());
       }
       /**
        * 
        * 包含多个自由度状态
        * 

        *
-       * repeated .cmvr.api.RH56DFTPDexHand hands = 2;
+       * repeated .cmvr.api.FreedomState hands = 2;
        */
-      public java.util.List 
+      public java.util.List 
            getHandsBuilderList() {
         return getHandsFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.api.DexhandCommand.RH56DFTPDexHand, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder, cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder> 
+          cmvr.api.DexhandCommand.FreedomState, cmvr.api.DexhandCommand.FreedomState.Builder, cmvr.api.DexhandCommand.FreedomStateOrBuilder> 
           getHandsFieldBuilder() {
         if (handsBuilder_ == null) {
           handsBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              cmvr.api.DexhandCommand.RH56DFTPDexHand, cmvr.api.DexhandCommand.RH56DFTPDexHand.Builder, cmvr.api.DexhandCommand.RH56DFTPDexHandOrBuilder>(
+              cmvr.api.DexhandCommand.FreedomState, cmvr.api.DexhandCommand.FreedomState.Builder, cmvr.api.DexhandCommand.FreedomStateOrBuilder>(
                   hands_,
                   ((bitField0_ & 0x00000001) != 0),
                   getParentForChildren(),
@@ -21035,10 +21035,10 @@ public final class DexhandCommand {
     com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
       internal_static_cmvr_api_FreedomValue_fieldAccessorTable;
   private static final com.google.protobuf.Descriptors.Descriptor
-    internal_static_cmvr_api_RH56DFTPDexHand_descriptor;
+    internal_static_cmvr_api_FreedomState_descriptor;
   private static final 
     com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
-      internal_static_cmvr_api_RH56DFTPDexHand_fieldAccessorTable;
+      internal_static_cmvr_api_FreedomState_fieldAccessorTable;
   private static final com.google.protobuf.Descriptors.Descriptor
     internal_static_cmvr_api_SensorData_descriptor;
   private static final 
@@ -21185,61 +21185,61 @@ public final class DexhandCommand {
     java.lang.String[] descriptorData = {
       "\n\036cmvr/api/dexhand_command.proto\022\010cmvr.a" +
       "pi\032\025cmvr/api/common.proto\")\n\014FreedomValu" +
-      "e\022\n\n\002id\030\001 \001(\005\022\r\n\005value\030\002 \001(\002\"\254\001\n\017RH56DFT" +
-      "PDexHand\022\016\n\006dof_id\030\001 \001(\005\022\r\n\005angle\030\002 \001(\005\022" +
-      "\r\n\005speed\030\003 \001(\005\022\r\n\005force\030\004 \001(\005\022\020\n\010positio" +
-      "n\030\005 \001(\005\022\017\n\007current\030\006 \001(\005\022\023\n\013temperature\030" +
-      "\007 \001(\005\022\r\n\005error\030\010 \001(\005\022\025\n\rerror_message\030\t " +
-      "\003(\t\"\220\003\n\nSensorData\0224\n\013finger_type\030\004 \001(\0162" +
-      "\037.cmvr.api.SensorData.FingerType\0220\n\tpart" +
-      "_type\030\005 \001(\0162\035.cmvr.api.SensorData.PartTy" +
-      "pe\022\023\n\013sensor_name\030\006 \001(\t\022*\n\004data\030\001 \003(\0132\034." +
-      "cmvr.api.SensorData.RowData\022\014\n\004rows\030\002 \001(" +
-      "\005\022\014\n\004cols\030\003 \001(\005\032\035\n\007RowData\022\022\n\006values\030\001 \003" +
-      "(\005B\002\020\001\"T\n\nFingerType\022\t\n\005PINKY\020\000\022\010\n\004RING\020" +
-      "\001\022\021\n\rMIDDLE_FINGER\020\002\022\t\n\005INDEX\020\003\022\t\n\005THUMB" +
-      "\020\004\022\010\n\004PALM\020\005\"H\n\010PartType\022\007\n\003TIP\020\000\022\n\n\006FIN" +
-      "GER\020\001\022\007\n\003PAD\020\002\022\020\n\014THUMB_MIDDLE\020\003\022\014\n\010PALM" +
-      "_PAD\020\004\"P\n\014DexHandState\022\026\n\016is_initialized" +
-      "\030\001 \001(\010\022(\n\005hands\030\002 \003(\0132\031.cmvr.api.RH56DFT" +
-      "PDexHand\"\271\001\n\026GetDexHandStateCommand\032:\n\007R" +
-      "equest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comman" +
-      "dHeader.Request\032c\n\010Feedback\0220\n\006header\030\001 " +
-      "\001(\0132 .cmvr.api.CommandHeader.Feedback\022%\n" +
-      "\005state\030\002 \001(\0132\026.cmvr.api.DexHandState\"\276\001\n" +
-      "\032SetDexHandPositionsCommand\032b\n\007Request\022/" +
-      "\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeader." +
-      "Request\022&\n\006values\030\002 \003(\0132\026.cmvr.api.Freed" +
-      "omValue\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cm" +
-      "vr.api.CommandHeader.Feedback\"\273\001\n\027SetDex" +
-      "HandAnglesCommand\032b\n\007Request\022/\n\006header\030\001" +
-      " \001(\0132\037.cmvr.api.CommandHeader.Request\022&\n" +
-      "\006values\030\002 \003(\0132\026.cmvr.api.FreedomValue\032<\n" +
-      "\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api.Com" +
-      "mandHeader.Feedback\"\272\001\n\026SetDexHandForceC" +
-      "ommand\032b\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr" +
-      ".api.CommandHeader.Request\022&\n\006values\030\002 \003" +
-      "(\0132\026.cmvr.api.FreedomValue\032<\n\010Feedback\0220" +
-      "\n\006header\030\001 \001(\0132 .cmvr.api.CommandHeader." +
-      "Feedback\"\272\001\n\026SetDexHandSpeedCommand\032b\n\007R" +
-      "equest\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comman" +
-      "dHeader.Request\022&\n\006values\030\002 \003(\0132\026.cmvr.a" +
-      "pi.FreedomValue\032<\n\010Feedback\0220\n\006header\030\001 " +
-      "\001(\0132 .cmvr.api.CommandHeader.Feedback\"\253\001" +
-      "\n\032SetDexHandPresetActCommand\032O\n\007Request\022" +
-      "/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeader" +
-      ".Request\022\023\n\013presetActId\030\002 \001(\005\032<\n\010Feedbac" +
-      "k\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandHead" +
-      "er.Feedback\"\266\001\n\024GetSensorDataCommand\032:\n\007" +
-      "Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.Comma" +
-      "ndHeader.Request\032b\n\010Feedback\0220\n\006header\030\001" +
-      " \001(\0132 .cmvr.api.CommandHeader.Feedback\022$" +
-      "\n\006sensor\030\002 \003(\0132\024.cmvr.api.SensorData\"\274\001\n" +
-      "\032GetSensorDataStreamCommand\032:\n\007Request\022/" +
-      "\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeader." +
-      "Request\032b\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cm" +
-      "vr.api.CommandHeader.Feedback\022$\n\006sensor\030" +
-      "\002 \003(\0132\024.cmvr.api.SensorDatab\006proto3"
+      "e\022\n\n\002id\030\001 \001(\005\022\r\n\005value\030\002 \001(\002\"\251\001\n\014Freedom" +
+      "State\022\016\n\006dof_id\030\001 \001(\005\022\r\n\005angle\030\002 \001(\005\022\r\n\005" +
+      "speed\030\003 \001(\005\022\r\n\005force\030\004 \001(\005\022\020\n\010position\030\005" +
+      " \001(\005\022\017\n\007current\030\006 \001(\005\022\023\n\013temperature\030\007 \001" +
+      "(\005\022\r\n\005error\030\010 \001(\005\022\025\n\rerror_message\030\t \003(\t" +
+      "\"\220\003\n\nSensorData\0224\n\013finger_type\030\004 \001(\0162\037.c" +
+      "mvr.api.SensorData.FingerType\0220\n\tpart_ty" +
+      "pe\030\005 \001(\0162\035.cmvr.api.SensorData.PartType\022" +
+      "\023\n\013sensor_name\030\006 \001(\t\022*\n\004data\030\001 \003(\0132\034.cmv" +
+      "r.api.SensorData.RowData\022\014\n\004rows\030\002 \001(\005\022\014" +
+      "\n\004cols\030\003 \001(\005\032\035\n\007RowData\022\022\n\006values\030\001 \003(\005B" +
+      "\002\020\001\"T\n\nFingerType\022\t\n\005PINKY\020\000\022\010\n\004RING\020\001\022\021" +
+      "\n\rMIDDLE_FINGER\020\002\022\t\n\005INDEX\020\003\022\t\n\005THUMB\020\004\022" +
+      "\010\n\004PALM\020\005\"H\n\010PartType\022\007\n\003TIP\020\000\022\n\n\006FINGER" +
+      "\020\001\022\007\n\003PAD\020\002\022\020\n\014THUMB_MIDDLE\020\003\022\014\n\010PALM_PA" +
+      "D\020\004\"M\n\014DexHandState\022\026\n\016is_initialized\030\001 " +
+      "\001(\010\022%\n\005hands\030\002 \003(\0132\026.cmvr.api.FreedomSta" +
+      "te\"\271\001\n\026GetDexHandStateCommand\032:\n\007Request" +
+      "\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeade" +
+      "r.Request\032c\n\010Feedback\0220\n\006header\030\001 \001(\0132 ." +
+      "cmvr.api.CommandHeader.Feedback\022%\n\005state" +
+      "\030\002 \001(\0132\026.cmvr.api.DexHandState\"\276\001\n\032SetDe" +
+      "xHandPositionsCommand\032b\n\007Request\022/\n\006head" +
+      "er\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reques" +
+      "t\022&\n\006values\030\002 \003(\0132\026.cmvr.api.FreedomValu" +
+      "e\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api" +
+      ".CommandHeader.Feedback\"\273\001\n\027SetDexHandAn" +
+      "glesCommand\032b\n\007Request\022/\n\006header\030\001 \001(\0132\037" +
+      ".cmvr.api.CommandHeader.Request\022&\n\006value" +
+      "s\030\002 \003(\0132\026.cmvr.api.FreedomValue\032<\n\010Feedb" +
+      "ack\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandHe" +
+      "ader.Feedback\"\272\001\n\026SetDexHandForceCommand" +
+      "\032b\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.C" +
+      "ommandHeader.Request\022&\n\006values\030\002 \003(\0132\026.c" +
+      "mvr.api.FreedomValue\032<\n\010Feedback\0220\n\006head" +
+      "er\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedba" +
+      "ck\"\272\001\n\026SetDexHandSpeedCommand\032b\n\007Request" +
+      "\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeade" +
+      "r.Request\022&\n\006values\030\002 \003(\0132\026.cmvr.api.Fre" +
+      "edomValue\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 ." +
+      "cmvr.api.CommandHeader.Feedback\"\253\001\n\032SetD" +
+      "exHandPresetActCommand\032O\n\007Request\022/\n\006hea" +
+      "der\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reque" +
+      "st\022\023\n\013presetActId\030\002 \001(\005\032<\n\010Feedback\0220\n\006h" +
+      "eader\030\001 \001(\0132 .cmvr.api.CommandHeader.Fee" +
+      "dback\"\266\001\n\024GetSensorDataCommand\032:\n\007Reques" +
+      "t\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHead" +
+      "er.Request\032b\n\010Feedback\0220\n\006header\030\001 \001(\0132 " +
+      ".cmvr.api.CommandHeader.Feedback\022$\n\006sens" +
+      "or\030\002 \003(\0132\024.cmvr.api.SensorData\"\274\001\n\032GetSe" +
+      "nsorDataStreamCommand\032:\n\007Request\022/\n\006head" +
+      "er\030\001 \001(\0132\037.cmvr.api.CommandHeader.Reques" +
+      "t\032b\n\010Feedback\0220\n\006header\030\001 \001(\0132 .cmvr.api" +
+      ".CommandHeader.Feedback\022$\n\006sensor\030\002 \003(\0132" +
+      "\024.cmvr.api.SensorDatab\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
@@ -21252,11 +21252,11 @@ public final class DexhandCommand {
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_FreedomValue_descriptor,
         new java.lang.String[] { "Id", "Value", });
-    internal_static_cmvr_api_RH56DFTPDexHand_descriptor =
+    internal_static_cmvr_api_FreedomState_descriptor =
       getDescriptor().getMessageTypes().get(1);
-    internal_static_cmvr_api_RH56DFTPDexHand_fieldAccessorTable = new
+    internal_static_cmvr_api_FreedomState_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
-        internal_static_cmvr_api_RH56DFTPDexHand_descriptor,
+        internal_static_cmvr_api_FreedomState_descriptor,
         new java.lang.String[] { "DofId", "Angle", "Speed", "Force", "Position", "Current", "Temperature", "Error", "ErrorMessage", });
     internal_static_cmvr_api_SensorData_descriptor =
       getDescriptor().getMessageTypes().get(2);
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/Geometry.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/Geometry.java
deleted file mode 100644
index ae11d02..0000000
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/Geometry.java
+++ /dev/null
@@ -1,7139 +0,0 @@
-// Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: cmvr/api/geometry.proto
-
-package cmvr.api;
-
-public final class Geometry {
-  private Geometry() {}
-  public static void registerAllExtensions(
-      com.google.protobuf.ExtensionRegistryLite registry) {
-  }
-
-  public static void registerAllExtensions(
-      com.google.protobuf.ExtensionRegistry registry) {
-    registerAllExtensions(
-        (com.google.protobuf.ExtensionRegistryLite) registry);
-  }
-  public interface Vec2OrBuilder extends
-      // @@protoc_insertion_point(interface_extends:cmvr.api.Vec2)
-      com.google.protobuf.MessageOrBuilder {
-
-    /**
-     * double x = 1;
-     * @return The x.
-     */
-    double getX();
-
-    /**
-     * double y = 2;
-     * @return The y.
-     */
-    double getY();
-  }
-  /**
-   * Protobuf type {@code cmvr.api.Vec2}
-   */
-  public static final class Vec2 extends
-      com.google.protobuf.GeneratedMessageV3 implements
-      // @@protoc_insertion_point(message_implements:cmvr.api.Vec2)
-      Vec2OrBuilder {
-  private static final long serialVersionUID = 0L;
-    // Use Vec2.newBuilder() to construct.
-    private Vec2(com.google.protobuf.GeneratedMessageV3.Builder builder) {
-      super(builder);
-    }
-    private Vec2() {
-    }
-
-    @java.lang.Override
-    @SuppressWarnings({"unused"})
-    protected java.lang.Object newInstance(
-        UnusedPrivateParameter unused) {
-      return new Vec2();
-    }
-
-    @java.lang.Override
-    public final com.google.protobuf.UnknownFieldSet
-    getUnknownFields() {
-      return this.unknownFields;
-    }
-    public static final com.google.protobuf.Descriptors.Descriptor
-        getDescriptor() {
-      return cmvr.api.Geometry.internal_static_cmvr_api_Vec2_descriptor;
-    }
-
-    @java.lang.Override
-    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
-        internalGetFieldAccessorTable() {
-      return cmvr.api.Geometry.internal_static_cmvr_api_Vec2_fieldAccessorTable
-          .ensureFieldAccessorsInitialized(
-              cmvr.api.Geometry.Vec2.class, cmvr.api.Geometry.Vec2.Builder.class);
-    }
-
-    public static final int X_FIELD_NUMBER = 1;
-    private double x_;
-    /**
-     * double x = 1;
-     * @return The x.
-     */
-    @java.lang.Override
-    public double getX() {
-      return x_;
-    }
-
-    public static final int Y_FIELD_NUMBER = 2;
-    private double y_;
-    /**
-     * double y = 2;
-     * @return The y.
-     */
-    @java.lang.Override
-    public double getY() {
-      return y_;
-    }
-
-    private byte memoizedIsInitialized = -1;
-    @java.lang.Override
-    public final boolean isInitialized() {
-      byte isInitialized = memoizedIsInitialized;
-      if (isInitialized == 1) return true;
-      if (isInitialized == 0) return false;
-
-      memoizedIsInitialized = 1;
-      return true;
-    }
-
-    @java.lang.Override
-    public void writeTo(com.google.protobuf.CodedOutputStream output)
-                        throws java.io.IOException {
-      if (java.lang.Double.doubleToRawLongBits(x_) != 0) {
-        output.writeDouble(1, x_);
-      }
-      if (java.lang.Double.doubleToRawLongBits(y_) != 0) {
-        output.writeDouble(2, y_);
-      }
-      getUnknownFields().writeTo(output);
-    }
-
-    @java.lang.Override
-    public int getSerializedSize() {
-      int size = memoizedSize;
-      if (size != -1) return size;
-
-      size = 0;
-      if (java.lang.Double.doubleToRawLongBits(x_) != 0) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeDoubleSize(1, x_);
-      }
-      if (java.lang.Double.doubleToRawLongBits(y_) != 0) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeDoubleSize(2, y_);
-      }
-      size += getUnknownFields().getSerializedSize();
-      memoizedSize = size;
-      return size;
-    }
-
-    @java.lang.Override
-    public boolean equals(final java.lang.Object obj) {
-      if (obj == this) {
-       return true;
-      }
-      if (!(obj instanceof cmvr.api.Geometry.Vec2)) {
-        return super.equals(obj);
-      }
-      cmvr.api.Geometry.Vec2 other = (cmvr.api.Geometry.Vec2) obj;
-
-      if (java.lang.Double.doubleToLongBits(getX())
-          != java.lang.Double.doubleToLongBits(
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-
-      @java.lang.Override
-      public cmvr.api.Geometry.Vec3 build() {
-        cmvr.api.Geometry.Vec3 result = buildPartial();
-        if (!result.isInitialized()) {
-          throw newUninitializedMessageException(result);
-        }
-        return result;
-      }
-
-      @java.lang.Override
-      public cmvr.api.Geometry.Vec3 buildPartial() {
-        cmvr.api.Geometry.Vec3 result = new cmvr.api.Geometry.Vec3(this);
-        result.x_ = x_;
-        result.y_ = y_;
-        result.z_ = z_;
-        onBuilt();
-        return result;
-      }
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-      @java.lang.Override
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-      public Builder mergeFrom(com.google.protobuf.Message other) {
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-          super.mergeFrom(other);
-          return this;
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-      public Builder mergeFrom(cmvr.api.Geometry.Vec3 other) {
-        if (other == cmvr.api.Geometry.Vec3.getDefaultInstance()) return this;
-        if (other.getX() != 0D) {
-          setX(other.getX());
-        }
-        if (other.getY() != 0D) {
-          setY(other.getY());
-        }
-        if (other.getZ() != 0D) {
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-        this.mergeUnknownFields(other.getUnknownFields());
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-        return this;
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-      public Builder setX(double value) {
-        
-        x_ = value;
-        onChanged();
-        return this;
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-      /**
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-      public Builder clearX() {
-        
-        x_ = 0D;
-        onChanged();
-        return this;
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-
-      private double y_ ;
-      /**
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-       * @return The y.
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-      public double getY() {
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-      }
-      /**
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-       * @return This builder for chaining.
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-      public Builder setY(double value) {
-        
-        y_ = value;
-        onChanged();
-        return this;
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-      /**
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-       * @return This builder for chaining.
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-      public Builder clearY() {
-        
-        y_ = 0D;
-        onChanged();
-        return this;
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-
-      private double z_ ;
-      /**
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-       * @return The z.
-       */
-      @java.lang.Override
-      public double getZ() {
-        return z_;
-      }
-      /**
-       * double z = 3;
-       * @param value The z to set.
-       * @return This builder for chaining.
-       */
-      public Builder setZ(double value) {
-        
-        z_ = value;
-        onChanged();
-        return this;
-      }
-      /**
-       * double z = 3;
-       * @return This builder for chaining.
-       */
-      public Builder clearZ() {
-        
-        z_ = 0D;
-        onChanged();
-        return this;
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-
-      // @@protoc_insertion_point(builder_scope:cmvr.api.Vec3)
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-    private static final cmvr.api.Geometry.Vec3 DEFAULT_INSTANCE;
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-      DEFAULT_INSTANCE = new cmvr.api.Geometry.Vec3();
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-      public Vec3 parsePartialFrom(
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-          throw e.setUnfinishedMessage(builder.buildPartial());
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-        return builder.buildPartial();
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-
-    public static com.google.protobuf.Parser parser() {
-      return PARSER;
-    }
-
-    @java.lang.Override
-    public com.google.protobuf.Parser getParserForType() {
-      return PARSER;
-    }
-
-    @java.lang.Override
-    public cmvr.api.Geometry.Vec3 getDefaultInstanceForType() {
-      return DEFAULT_INSTANCE;
-    }
-
-  }
-
-  public interface SE2PoseOrBuilder extends
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-      com.google.protobuf.MessageOrBuilder {
-
-    /**
-     * 
-     * (m)
-     * 

-     *
-     * .cmvr.api.Vec2 position = 1;
-     * @return Whether the position field is set.
-     */
-    boolean hasPosition();
-    /**
-     * 
-     * (m)
-     * 

-     *
-     * .cmvr.api.Vec2 position = 1;
-     * @return The position.
-     */
-    cmvr.api.Geometry.Vec2 getPosition();
-    /**
-     * 
-     * (m)
-     * 

-     *
-     * .cmvr.api.Vec2 position = 1;
-     */
-    cmvr.api.Geometry.Vec2OrBuilder getPositionOrBuilder();
-
-    /**
-     * 
-     * (rad)
-     * 

-     *
-     * double angle = 2;
-     * @return The angle.
-     */
-    double getAngle();
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-  /**
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-    protected java.lang.Object newInstance(
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-    @java.lang.Override
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-    public static final int POSITION_FIELD_NUMBER = 1;
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-    /**
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-     * 

-     *
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-     * @return Whether the position field is set.
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-    @java.lang.Override
-    public boolean hasPosition() {
-      return position_ != null;
-    }
-    /**
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-     * (m)
-     * 

-     *
-     * .cmvr.api.Vec2 position = 1;
-     * @return The position.
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-    @java.lang.Override
-    public cmvr.api.Geometry.Vec2 getPosition() {
-      return position_ == null ? cmvr.api.Geometry.Vec2.getDefaultInstance() : position_;
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-    /**
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-     * (m)
-     * 

-     *
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-    @java.lang.Override
-    public cmvr.api.Geometry.Vec2OrBuilder getPositionOrBuilder() {
-      return getPosition();
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-
-    public static final int ANGLE_FIELD_NUMBER = 2;
-    private double angle_;
-    /**
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-     * (rad)
-     * 

-     *
-     * double angle = 2;
-     * @return The angle.
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-    @java.lang.Override
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-      if (java.lang.Double.doubleToRawLongBits(angle_) != 0) {
-        output.writeDouble(2, angle_);
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-      getUnknownFields().writeTo(output);
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-    @java.lang.Override
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-      return PARSER.parseFrom(data);
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-      return com.google.protobuf.GeneratedMessageV3
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-    @java.lang.Override
-    public Builder toBuilder() {
-      return this == DEFAULT_INSTANCE
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-    @java.lang.Override
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-      @java.lang.Override
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-        if (positionBuilder_ == null) {
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-        } else {
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-        result.angle_ = angle_;
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-        return super.clearField(field);
-      }
-      @java.lang.Override
-      public Builder clearOneof(
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-        return super.clearOneof(oneof);
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-      public Builder setRepeatedField(
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-        return super.addRepeatedField(field, value);
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-      @java.lang.Override
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-          return this;
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-
-      public Builder mergeFrom(cmvr.api.Geometry.SE2Pose other) {
-        if (other == cmvr.api.Geometry.SE2Pose.getDefaultInstance()) return this;
-        if (other.hasPosition()) {
-          mergePosition(other.getPosition());
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-        if (other.getAngle() != 0D) {
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-      @java.lang.Override
-      public Builder mergeFrom(
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-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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-
-                break;
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-
-                break;
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-            } // switch (tag)
-          } // while (!done)
-        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          throw e.unwrapIOException();
-        } finally {
-          onChanged();
-        } // finally
-        return this;
-      }
-
-      private cmvr.api.Geometry.Vec2 position_;
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.Vec2, cmvr.api.Geometry.Vec2.Builder, cmvr.api.Geometry.Vec2OrBuilder> positionBuilder_;
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec2 position = 1;
-       * @return Whether the position field is set.
-       */
-      public boolean hasPosition() {
-        return positionBuilder_ != null || position_ != null;
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec2 position = 1;
-       * @return The position.
-       */
-      public cmvr.api.Geometry.Vec2 getPosition() {
-        if (positionBuilder_ == null) {
-          return position_ == null ? cmvr.api.Geometry.Vec2.getDefaultInstance() : position_;
-        } else {
-          return positionBuilder_.getMessage();
-        }
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec2 position = 1;
-       */
-      public Builder setPosition(cmvr.api.Geometry.Vec2 value) {
-        if (positionBuilder_ == null) {
-          if (value == null) {
-            throw new NullPointerException();
-          }
-          position_ = value;
-          onChanged();
-        } else {
-          positionBuilder_.setMessage(value);
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec2 position = 1;
-       */
-      public Builder setPosition(
-          cmvr.api.Geometry.Vec2.Builder builderForValue) {
-        if (positionBuilder_ == null) {
-          position_ = builderForValue.build();
-          onChanged();
-        } else {
-          positionBuilder_.setMessage(builderForValue.build());
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec2 position = 1;
-       */
-      public Builder mergePosition(cmvr.api.Geometry.Vec2 value) {
-        if (positionBuilder_ == null) {
-          if (position_ != null) {
-            position_ =
-              cmvr.api.Geometry.Vec2.newBuilder(position_).mergeFrom(value).buildPartial();
-          } else {
-            position_ = value;
-          }
-          onChanged();
-        } else {
-          positionBuilder_.mergeFrom(value);
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec2 position = 1;
-       */
-      public Builder clearPosition() {
-        if (positionBuilder_ == null) {
-          position_ = null;
-          onChanged();
-        } else {
-          position_ = null;
-          positionBuilder_ = null;
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec2 position = 1;
-       */
-      public cmvr.api.Geometry.Vec2.Builder getPositionBuilder() {
-        
-        onChanged();
-        return getPositionFieldBuilder().getBuilder();
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec2 position = 1;
-       */
-      public cmvr.api.Geometry.Vec2OrBuilder getPositionOrBuilder() {
-        if (positionBuilder_ != null) {
-          return positionBuilder_.getMessageOrBuilder();
-        } else {
-          return position_ == null ?
-              cmvr.api.Geometry.Vec2.getDefaultInstance() : position_;
-        }
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec2 position = 1;
-       */
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.Vec2, cmvr.api.Geometry.Vec2.Builder, cmvr.api.Geometry.Vec2OrBuilder> 
-          getPositionFieldBuilder() {
-        if (positionBuilder_ == null) {
-          positionBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.api.Geometry.Vec2, cmvr.api.Geometry.Vec2.Builder, cmvr.api.Geometry.Vec2OrBuilder>(
-                  getPosition(),
-                  getParentForChildren(),
-                  isClean());
-          position_ = null;
-        }
-        return positionBuilder_;
-      }
-
-      private double angle_ ;
-      /**
-       * 
-       * (rad)
-       * 

-       *
-       * double angle = 2;
-       * @return The angle.
-       */
-      @java.lang.Override
-      public double getAngle() {
-        return angle_;
-      }
-      /**
-       * 
-       * (rad)
-       * 

-       *
-       * double angle = 2;
-       * @param value The angle to set.
-       * @return This builder for chaining.
-       */
-      public Builder setAngle(double value) {
-        
-        angle_ = value;
-        onChanged();
-        return this;
-      }
-      /**
-       * 
-       * (rad)
-       * 

-       *
-       * double angle = 2;
-       * @return This builder for chaining.
-       */
-      public Builder clearAngle() {
-        
-        angle_ = 0D;
-        onChanged();
-        return this;
-      }
-      @java.lang.Override
-      public final Builder setUnknownFields(
-          final com.google.protobuf.UnknownFieldSet unknownFields) {
-        return super.setUnknownFields(unknownFields);
-      }
-
-      @java.lang.Override
-      public final Builder mergeUnknownFields(
-          final com.google.protobuf.UnknownFieldSet unknownFields) {
-        return super.mergeUnknownFields(unknownFields);
-      }
-
-
-      // @@protoc_insertion_point(builder_scope:cmvr.api.SE2Pose)
-    }
-
-    // @@protoc_insertion_point(class_scope:cmvr.api.SE2Pose)
-    private static final cmvr.api.Geometry.SE2Pose DEFAULT_INSTANCE;
-    static {
-      DEFAULT_INSTANCE = new cmvr.api.Geometry.SE2Pose();
-    }
-
-    public static cmvr.api.Geometry.SE2Pose getDefaultInstance() {
-      return DEFAULT_INSTANCE;
-    }
-
-    private static final com.google.protobuf.Parser
-        PARSER = new com.google.protobuf.AbstractParser() {
-      @java.lang.Override
-      public SE2Pose parsePartialFrom(
-          com.google.protobuf.CodedInputStream input,
-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-          throws com.google.protobuf.InvalidProtocolBufferException {
-        Builder builder = newBuilder();
-        try {
-          builder.mergeFrom(input, extensionRegistry);
-        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          throw e.setUnfinishedMessage(builder.buildPartial());
-        } catch (com.google.protobuf.UninitializedMessageException e) {
-          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
-        } catch (java.io.IOException e) {
-          throw new com.google.protobuf.InvalidProtocolBufferException(e)
-              .setUnfinishedMessage(builder.buildPartial());
-        }
-        return builder.buildPartial();
-      }
-    };
-
-    public static com.google.protobuf.Parser parser() {
-      return PARSER;
-    }
-
-    @java.lang.Override
-    public com.google.protobuf.Parser getParserForType() {
-      return PARSER;
-    }
-
-    @java.lang.Override
-    public cmvr.api.Geometry.SE2Pose getDefaultInstanceForType() {
-      return DEFAULT_INSTANCE;
-    }
-
-  }
-
-  public interface SE2VelocityOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:cmvr.api.SE2Velocity)
-      com.google.protobuf.MessageOrBuilder {
-
-    /**
-     * 
-     * (m/s)
-     * 

-     *
-     * .cmvr.api.Vec2 linear = 1;
-     * @return Whether the linear field is set.
-     */
-    boolean hasLinear();
-    /**
-     * 
-     * (m/s)
-     * 

-     *
-     * .cmvr.api.Vec2 linear = 1;
-     * @return The linear.
-     */
-    cmvr.api.Geometry.Vec2 getLinear();
-    /**
-     * 
-     * (m/s)
-     * 

-     *
-     * .cmvr.api.Vec2 linear = 1;
-     */
-    cmvr.api.Geometry.Vec2OrBuilder getLinearOrBuilder();
-
-    /**
-     * 
-     * (rad/s)
-     * 

-     *
-     * double angular = 2;
-     * @return The angular.
-     */
-    double getAngular();
-  }
-  /**
-   * Protobuf type {@code cmvr.api.SE2Velocity}
-   */
-  public static final class SE2Velocity extends
-      com.google.protobuf.GeneratedMessageV3 implements
-      // @@protoc_insertion_point(message_implements:cmvr.api.SE2Velocity)
-      SE2VelocityOrBuilder {
-  private static final long serialVersionUID = 0L;
-    // Use SE2Velocity.newBuilder() to construct.
-    private SE2Velocity(com.google.protobuf.GeneratedMessageV3.Builder builder) {
-      super(builder);
-    }
-    private SE2Velocity() {
-    }
-
-    @java.lang.Override
-    @SuppressWarnings({"unused"})
-    protected java.lang.Object newInstance(
-        UnusedPrivateParameter unused) {
-      return new SE2Velocity();
-    }
-
-    @java.lang.Override
-    public final com.google.protobuf.UnknownFieldSet
-    getUnknownFields() {
-      return this.unknownFields;
-    }
-    public static final com.google.protobuf.Descriptors.Descriptor
-        getDescriptor() {
-      return cmvr.api.Geometry.internal_static_cmvr_api_SE2Velocity_descriptor;
-    }
-
-    @java.lang.Override
-    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
-        internalGetFieldAccessorTable() {
-      return cmvr.api.Geometry.internal_static_cmvr_api_SE2Velocity_fieldAccessorTable
-          .ensureFieldAccessorsInitialized(
-              cmvr.api.Geometry.SE2Velocity.class, cmvr.api.Geometry.SE2Velocity.Builder.class);
-    }
-
-    public static final int LINEAR_FIELD_NUMBER = 1;
-    private cmvr.api.Geometry.Vec2 linear_;
-    /**
-     * 
-     * (m/s)
-     * 

-     *
-     * .cmvr.api.Vec2 linear = 1;
-     * @return Whether the linear field is set.
-     */
-    @java.lang.Override
-    public boolean hasLinear() {
-      return linear_ != null;
-    }
-    /**
-     * 
-     * (m/s)
-     * 

-     *
-     * .cmvr.api.Vec2 linear = 1;
-     * @return The linear.
-     */
-    @java.lang.Override
-    public cmvr.api.Geometry.Vec2 getLinear() {
-      return linear_ == null ? cmvr.api.Geometry.Vec2.getDefaultInstance() : linear_;
-    }
-    /**
-     * 
-     * (m/s)
-     * 

-     *
-     * .cmvr.api.Vec2 linear = 1;
-     */
-    @java.lang.Override
-    public cmvr.api.Geometry.Vec2OrBuilder getLinearOrBuilder() {
-      return getLinear();
-    }
-
-    public static final int ANGULAR_FIELD_NUMBER = 2;
-    private double angular_;
-    /**
-     * 
-     * (rad/s)
-     * 

-     *
-     * double angular = 2;
-     * @return The angular.
-     */
-    @java.lang.Override
-    public double getAngular() {
-      return angular_;
-    }
-
-    private byte memoizedIsInitialized = -1;
-    @java.lang.Override
-    public final boolean isInitialized() {
-      byte isInitialized = memoizedIsInitialized;
-      if (isInitialized == 1) return true;
-      if (isInitialized == 0) return false;
-
-      memoizedIsInitialized = 1;
-      return true;
-    }
-
-    @java.lang.Override
-    public void writeTo(com.google.protobuf.CodedOutputStream output)
-                        throws java.io.IOException {
-      if (linear_ != null) {
-        output.writeMessage(1, getLinear());
-      }
-      if (java.lang.Double.doubleToRawLongBits(angular_) != 0) {
-        output.writeDouble(2, angular_);
-      }
-      getUnknownFields().writeTo(output);
-    }
-
-    @java.lang.Override
-    public int getSerializedSize() {
-      int size = memoizedSize;
-      if (size != -1) return size;
-
-      size = 0;
-      if (linear_ != null) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeMessageSize(1, getLinear());
-      }
-      if (java.lang.Double.doubleToRawLongBits(angular_) != 0) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeDoubleSize(2, angular_);
-      }
-      size += getUnknownFields().getSerializedSize();
-      memoizedSize = size;
-      return size;
-    }
-
-    @java.lang.Override
-    public boolean equals(final java.lang.Object obj) {
-      if (obj == this) {
-       return true;
-      }
-      if (!(obj instanceof cmvr.api.Geometry.SE2Velocity)) {
-        return super.equals(obj);
-      }
-      cmvr.api.Geometry.SE2Velocity other = (cmvr.api.Geometry.SE2Velocity) obj;
-
-      if (hasLinear() != other.hasLinear()) return false;
-      if (hasLinear()) {
-        if (!getLinear()
-            .equals(other.getLinear())) return false;
-      }
-      if (java.lang.Double.doubleToLongBits(getAngular())
-          != java.lang.Double.doubleToLongBits(
-              other.getAngular())) return false;
-      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
-      return true;
-    }
-
-    @java.lang.Override
-    public int hashCode() {
-      if (memoizedHashCode != 0) {
-        return memoizedHashCode;
-      }
-      int hash = 41;
-      hash = (19 * hash) + getDescriptor().hashCode();
-      if (hasLinear()) {
-        hash = (37 * hash) + LINEAR_FIELD_NUMBER;
-        hash = (53 * hash) + getLinear().hashCode();
-      }
-      hash = (37 * hash) + ANGULAR_FIELD_NUMBER;
-      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
-          java.lang.Double.doubleToLongBits(getAngular()));
-      hash = (29 * hash) + getUnknownFields().hashCode();
-      memoizedHashCode = hash;
-      return hash;
-    }
-
-    public static cmvr.api.Geometry.SE2Velocity parseFrom(
-        java.nio.ByteBuffer data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data);
-    }
-    public static cmvr.api.Geometry.SE2Velocity parseFrom(
-        java.nio.ByteBuffer data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data, extensionRegistry);
-    }
-    public static cmvr.api.Geometry.SE2Velocity parseFrom(
-        com.google.protobuf.ByteString data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data);
-    }
-    public static cmvr.api.Geometry.SE2Velocity parseFrom(
-        com.google.protobuf.ByteString data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data, extensionRegistry);
-    }
-    public static cmvr.api.Geometry.SE2Velocity parseFrom(byte[] data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data);
-    }
-    public static cmvr.api.Geometry.SE2Velocity parseFrom(
-        byte[] data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data, extensionRegistry);
-    }
-    public static cmvr.api.Geometry.SE2Velocity parseFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageV3
-          .parseWithIOException(PARSER, input);
-    }
-    public static cmvr.api.Geometry.SE2Velocity parseFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageV3
-          .parseWithIOException(PARSER, input, extensionRegistry);
-    }
-    public static cmvr.api.Geometry.SE2Velocity parseDelimitedFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageV3
-          .parseDelimitedWithIOException(PARSER, input);
-    }
-    public static cmvr.api.Geometry.SE2Velocity parseDelimitedFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageV3
-          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
-    }
-    public static cmvr.api.Geometry.SE2Velocity parseFrom(
-        com.google.protobuf.CodedInputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageV3
-          .parseWithIOException(PARSER, input);
-    }
-    public static cmvr.api.Geometry.SE2Velocity parseFrom(
-        com.google.protobuf.CodedInputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageV3
-          .parseWithIOException(PARSER, input, extensionRegistry);
-    }
-
-    @java.lang.Override
-    public Builder newBuilderForType() { return newBuilder(); }
-    public static Builder newBuilder() {
-      return DEFAULT_INSTANCE.toBuilder();
-    }
-    public static Builder newBuilder(cmvr.api.Geometry.SE2Velocity prototype) {
-      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
-    }
-    @java.lang.Override
-    public Builder toBuilder() {
-      return this == DEFAULT_INSTANCE
-          ? new Builder() : new Builder().mergeFrom(this);
-    }
-
-    @java.lang.Override
-    protected Builder newBuilderForType(
-        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
-      Builder builder = new Builder(parent);
-      return builder;
-    }
-    /**
-     * Protobuf type {@code cmvr.api.SE2Velocity}
-     */
-    public static final class Builder extends
-        com.google.protobuf.GeneratedMessageV3.Builder implements
-        // @@protoc_insertion_point(builder_implements:cmvr.api.SE2Velocity)
-        cmvr.api.Geometry.SE2VelocityOrBuilder {
-      public static final com.google.protobuf.Descriptors.Descriptor
-          getDescriptor() {
-        return cmvr.api.Geometry.internal_static_cmvr_api_SE2Velocity_descriptor;
-      }
-
-      @java.lang.Override
-      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
-          internalGetFieldAccessorTable() {
-        return cmvr.api.Geometry.internal_static_cmvr_api_SE2Velocity_fieldAccessorTable
-            .ensureFieldAccessorsInitialized(
-                cmvr.api.Geometry.SE2Velocity.class, cmvr.api.Geometry.SE2Velocity.Builder.class);
-      }
-
-      // Construct using cmvr.api.Geometry.SE2Velocity.newBuilder()
-      private Builder() {
-
-      }
-
-      private Builder(
-          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
-        super(parent);
-
-      }
-      @java.lang.Override
-      public Builder clear() {
-        super.clear();
-        if (linearBuilder_ == null) {
-          linear_ = null;
-        } else {
-          linear_ = null;
-          linearBuilder_ = null;
-        }
-        angular_ = 0D;
-
-        return this;
-      }
-
-      @java.lang.Override
-      public com.google.protobuf.Descriptors.Descriptor
-          getDescriptorForType() {
-        return cmvr.api.Geometry.internal_static_cmvr_api_SE2Velocity_descriptor;
-      }
-
-      @java.lang.Override
-      public cmvr.api.Geometry.SE2Velocity getDefaultInstanceForType() {
-        return cmvr.api.Geometry.SE2Velocity.getDefaultInstance();
-      }
-
-      @java.lang.Override
-      public cmvr.api.Geometry.SE2Velocity build() {
-        cmvr.api.Geometry.SE2Velocity result = buildPartial();
-        if (!result.isInitialized()) {
-          throw newUninitializedMessageException(result);
-        }
-        return result;
-      }
-
-      @java.lang.Override
-      public cmvr.api.Geometry.SE2Velocity buildPartial() {
-        cmvr.api.Geometry.SE2Velocity result = new cmvr.api.Geometry.SE2Velocity(this);
-        if (linearBuilder_ == null) {
-          result.linear_ = linear_;
-        } else {
-          result.linear_ = linearBuilder_.build();
-        }
-        result.angular_ = angular_;
-        onBuilt();
-        return result;
-      }
-
-      @java.lang.Override
-      public Builder clone() {
-        return super.clone();
-      }
-      @java.lang.Override
-      public Builder setField(
-          com.google.protobuf.Descriptors.FieldDescriptor field,
-          java.lang.Object value) {
-        return super.setField(field, value);
-      }
-      @java.lang.Override
-      public Builder clearField(
-          com.google.protobuf.Descriptors.FieldDescriptor field) {
-        return super.clearField(field);
-      }
-      @java.lang.Override
-      public Builder clearOneof(
-          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
-        return super.clearOneof(oneof);
-      }
-      @java.lang.Override
-      public Builder setRepeatedField(
-          com.google.protobuf.Descriptors.FieldDescriptor field,
-          int index, java.lang.Object value) {
-        return super.setRepeatedField(field, index, value);
-      }
-      @java.lang.Override
-      public Builder addRepeatedField(
-          com.google.protobuf.Descriptors.FieldDescriptor field,
-          java.lang.Object value) {
-        return super.addRepeatedField(field, value);
-      }
-      @java.lang.Override
-      public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.api.Geometry.SE2Velocity) {
-          return mergeFrom((cmvr.api.Geometry.SE2Velocity)other);
-        } else {
-          super.mergeFrom(other);
-          return this;
-        }
-      }
-
-      public Builder mergeFrom(cmvr.api.Geometry.SE2Velocity other) {
-        if (other == cmvr.api.Geometry.SE2Velocity.getDefaultInstance()) return this;
-        if (other.hasLinear()) {
-          mergeLinear(other.getLinear());
-        }
-        if (other.getAngular() != 0D) {
-          setAngular(other.getAngular());
-        }
-        this.mergeUnknownFields(other.getUnknownFields());
-        onChanged();
-        return this;
-      }
-
-      @java.lang.Override
-      public final boolean isInitialized() {
-        return true;
-      }
-
-      @java.lang.Override
-      public Builder mergeFrom(
-          com.google.protobuf.CodedInputStream input,
-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-          throws java.io.IOException {
-        if (extensionRegistry == null) {
-          throw new java.lang.NullPointerException();
-        }
-        try {
-          boolean done = false;
-          while (!done) {
-            int tag = input.readTag();
-            switch (tag) {
-              case 0:
-                done = true;
-                break;
-              case 10: {
-                input.readMessage(
-                    getLinearFieldBuilder().getBuilder(),
-                    extensionRegistry);
-
-                break;
-              } // case 10
-              case 17: {
-                angular_ = input.readDouble();
-
-                break;
-              } // case 17
-              default: {
-                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
-                  done = true; // was an endgroup tag
-                }
-                break;
-              } // default:
-            } // switch (tag)
-          } // while (!done)
-        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          throw e.unwrapIOException();
-        } finally {
-          onChanged();
-        } // finally
-        return this;
-      }
-
-      private cmvr.api.Geometry.Vec2 linear_;
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.Vec2, cmvr.api.Geometry.Vec2.Builder, cmvr.api.Geometry.Vec2OrBuilder> linearBuilder_;
-      /**
-       * 
-       * (m/s)
-       * 

-       *
-       * .cmvr.api.Vec2 linear = 1;
-       * @return Whether the linear field is set.
-       */
-      public boolean hasLinear() {
-        return linearBuilder_ != null || linear_ != null;
-      }
-      /**
-       * 
-       * (m/s)
-       * 

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-    public cmvr.api.Geometry.EulerAngleZYX getDefaultInstanceForType() {
-      return DEFAULT_INSTANCE;
-    }
-
-  }
-
-  public interface SE3PoseOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:cmvr.api.SE3Pose)
-      com.google.protobuf.MessageOrBuilder {
-
-    /**
-     * 
-     * (m)
-     * 

-     *
-     * .cmvr.api.Vec3 position = 1;
-     * @return Whether the position field is set.
-     */
-    boolean hasPosition();
-    /**
-     * 
-     * (m)
-     * 

-     *
-     * .cmvr.api.Vec3 position = 1;
-     * @return The position.
-     */
-    cmvr.api.Geometry.Vec3 getPosition();
-    /**
-     * 
-     * (m)
-     * 

-     *
-     * .cmvr.api.Vec3 position = 1;
-     */
-    cmvr.api.Geometry.Vec3OrBuilder getPositionOrBuilder();
-
-    /**
-     * .cmvr.api.Quaternion quaternion = 2;
-     * @return Whether the quaternion field is set.
-     */
-    boolean hasQuaternion();
-    /**
-     * .cmvr.api.Quaternion quaternion = 2;
-     * @return The quaternion.
-     */
-    cmvr.api.Geometry.Quaternion getQuaternion();
-    /**
-     * .cmvr.api.Quaternion quaternion = 2;
-     */
-    cmvr.api.Geometry.QuaternionOrBuilder getQuaternionOrBuilder();
-
-    /**
-     * .cmvr.api.EulerAngleZYX euler = 3;
-     * @return Whether the euler field is set.
-     */
-    boolean hasEuler();
-    /**
-     * .cmvr.api.EulerAngleZYX euler = 3;
-     * @return The euler.
-     */
-    cmvr.api.Geometry.EulerAngleZYX getEuler();
-    /**
-     * .cmvr.api.EulerAngleZYX euler = 3;
-     */
-    cmvr.api.Geometry.EulerAngleZYXOrBuilder getEulerOrBuilder();
-
-    public cmvr.api.Geometry.SE3Pose.RotationCase getRotationCase();
-  }
-  /**
-   * Protobuf type {@code cmvr.api.SE3Pose}
-   */
-  public static final class SE3Pose extends
-      com.google.protobuf.GeneratedMessageV3 implements
-      // @@protoc_insertion_point(message_implements:cmvr.api.SE3Pose)
-      SE3PoseOrBuilder {
-  private static final long serialVersionUID = 0L;
-    // Use SE3Pose.newBuilder() to construct.
-    private SE3Pose(com.google.protobuf.GeneratedMessageV3.Builder builder) {
-      super(builder);
-    }
-    private SE3Pose() {
-    }
-
-    @java.lang.Override
-    @SuppressWarnings({"unused"})
-    protected java.lang.Object newInstance(
-        UnusedPrivateParameter unused) {
-      return new SE3Pose();
-    }
-
-    @java.lang.Override
-    public final com.google.protobuf.UnknownFieldSet
-    getUnknownFields() {
-      return this.unknownFields;
-    }
-    public static final com.google.protobuf.Descriptors.Descriptor
-        getDescriptor() {
-      return cmvr.api.Geometry.internal_static_cmvr_api_SE3Pose_descriptor;
-    }
-
-    @java.lang.Override
-    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
-        internalGetFieldAccessorTable() {
-      return cmvr.api.Geometry.internal_static_cmvr_api_SE3Pose_fieldAccessorTable
-          .ensureFieldAccessorsInitialized(
-              cmvr.api.Geometry.SE3Pose.class, cmvr.api.Geometry.SE3Pose.Builder.class);
-    }
-
-    private int rotationCase_ = 0;
-    private java.lang.Object rotation_;
-    public enum RotationCase
-        implements com.google.protobuf.Internal.EnumLite,
-            com.google.protobuf.AbstractMessage.InternalOneOfEnum {
-      QUATERNION(2),
-      EULER(3),
-      ROTATION_NOT_SET(0);
-      private final int value;
-      private RotationCase(int value) {
-        this.value = value;
-      }
-      /**
-       * @param value The number of the enum to look for.
-       * @return The enum associated with the given number.
-       * @deprecated Use {@link #forNumber(int)} instead.
-       */
-      @java.lang.Deprecated
-      public static RotationCase valueOf(int value) {
-        return forNumber(value);
-      }
-
-      public static RotationCase forNumber(int value) {
-        switch (value) {
-          case 2: return QUATERNION;
-          case 3: return EULER;
-          case 0: return ROTATION_NOT_SET;
-          default: return null;
-        }
-      }
-      public int getNumber() {
-        return this.value;
-      }
-    };
-
-    public RotationCase
-    getRotationCase() {
-      return RotationCase.forNumber(
-          rotationCase_);
-    }
-
-    public static final int POSITION_FIELD_NUMBER = 1;
-    private cmvr.api.Geometry.Vec3 position_;
-    /**
-     * 
-     * (m)
-     * 

-     *
-     * .cmvr.api.Vec3 position = 1;
-     * @return Whether the position field is set.
-     */
-    @java.lang.Override
-    public boolean hasPosition() {
-      return position_ != null;
-    }
-    /**
-     * 
-     * (m)
-     * 

-     *
-     * .cmvr.api.Vec3 position = 1;
-     * @return The position.
-     */
-    @java.lang.Override
-    public cmvr.api.Geometry.Vec3 getPosition() {
-      return position_ == null ? cmvr.api.Geometry.Vec3.getDefaultInstance() : position_;
-    }
-    /**
-     * 
-     * (m)
-     * 

-     *
-     * .cmvr.api.Vec3 position = 1;
-     */
-    @java.lang.Override
-    public cmvr.api.Geometry.Vec3OrBuilder getPositionOrBuilder() {
-      return getPosition();
-    }
-
-    public static final int QUATERNION_FIELD_NUMBER = 2;
-    /**
-     * .cmvr.api.Quaternion quaternion = 2;
-     * @return Whether the quaternion field is set.
-     */
-    @java.lang.Override
-    public boolean hasQuaternion() {
-      return rotationCase_ == 2;
-    }
-    /**
-     * .cmvr.api.Quaternion quaternion = 2;
-     * @return The quaternion.
-     */
-    @java.lang.Override
-    public cmvr.api.Geometry.Quaternion getQuaternion() {
-      if (rotationCase_ == 2) {
-         return (cmvr.api.Geometry.Quaternion) rotation_;
-      }
-      return cmvr.api.Geometry.Quaternion.getDefaultInstance();
-    }
-    /**
-     * .cmvr.api.Quaternion quaternion = 2;
-     */
-    @java.lang.Override
-    public cmvr.api.Geometry.QuaternionOrBuilder getQuaternionOrBuilder() {
-      if (rotationCase_ == 2) {
-         return (cmvr.api.Geometry.Quaternion) rotation_;
-      }
-      return cmvr.api.Geometry.Quaternion.getDefaultInstance();
-    }
-
-    public static final int EULER_FIELD_NUMBER = 3;
-    /**
-     * .cmvr.api.EulerAngleZYX euler = 3;
-     * @return Whether the euler field is set.
-     */
-    @java.lang.Override
-    public boolean hasEuler() {
-      return rotationCase_ == 3;
-    }
-    /**
-     * .cmvr.api.EulerAngleZYX euler = 3;
-     * @return The euler.
-     */
-    @java.lang.Override
-    public cmvr.api.Geometry.EulerAngleZYX getEuler() {
-      if (rotationCase_ == 3) {
-         return (cmvr.api.Geometry.EulerAngleZYX) rotation_;
-      }
-      return cmvr.api.Geometry.EulerAngleZYX.getDefaultInstance();
-    }
-    /**
-     * .cmvr.api.EulerAngleZYX euler = 3;
-     */
-    @java.lang.Override
-    public cmvr.api.Geometry.EulerAngleZYXOrBuilder getEulerOrBuilder() {
-      if (rotationCase_ == 3) {
-         return (cmvr.api.Geometry.EulerAngleZYX) rotation_;
-      }
-      return cmvr.api.Geometry.EulerAngleZYX.getDefaultInstance();
-    }
-
-    private byte memoizedIsInitialized = -1;
-    @java.lang.Override
-    public final boolean isInitialized() {
-      byte isInitialized = memoizedIsInitialized;
-      if (isInitialized == 1) return true;
-      if (isInitialized == 0) return false;
-
-      memoizedIsInitialized = 1;
-      return true;
-    }
-
-    @java.lang.Override
-    public void writeTo(com.google.protobuf.CodedOutputStream output)
-                        throws java.io.IOException {
-      if (position_ != null) {
-        output.writeMessage(1, getPosition());
-      }
-      if (rotationCase_ == 2) {
-        output.writeMessage(2, (cmvr.api.Geometry.Quaternion) rotation_);
-      }
-      if (rotationCase_ == 3) {
-        output.writeMessage(3, (cmvr.api.Geometry.EulerAngleZYX) rotation_);
-      }
-      getUnknownFields().writeTo(output);
-    }
-
-    @java.lang.Override
-    public int getSerializedSize() {
-      int size = memoizedSize;
-      if (size != -1) return size;
-
-      size = 0;
-      if (position_ != null) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeMessageSize(1, getPosition());
-      }
-      if (rotationCase_ == 2) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeMessageSize(2, (cmvr.api.Geometry.Quaternion) rotation_);
-      }
-      if (rotationCase_ == 3) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeMessageSize(3, (cmvr.api.Geometry.EulerAngleZYX) rotation_);
-      }
-      size += getUnknownFields().getSerializedSize();
-      memoizedSize = size;
-      return size;
-    }
-
-    @java.lang.Override
-    public boolean equals(final java.lang.Object obj) {
-      if (obj == this) {
-       return true;
-      }
-      if (!(obj instanceof cmvr.api.Geometry.SE3Pose)) {
-        return super.equals(obj);
-      }
-      cmvr.api.Geometry.SE3Pose other = (cmvr.api.Geometry.SE3Pose) obj;
-
-      if (hasPosition() != other.hasPosition()) return false;
-      if (hasPosition()) {
-        if (!getPosition()
-            .equals(other.getPosition())) return false;
-      }
-      if (!getRotationCase().equals(other.getRotationCase())) return false;
-      switch (rotationCase_) {
-        case 2:
-          if (!getQuaternion()
-              .equals(other.getQuaternion())) return false;
-          break;
-        case 3:
-          if (!getEuler()
-              .equals(other.getEuler())) return false;
-          break;
-        case 0:
-        default:
-      }
-      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
-      return true;
-    }
-
-    @java.lang.Override
-    public int hashCode() {
-      if (memoizedHashCode != 0) {
-        return memoizedHashCode;
-      }
-      int hash = 41;
-      hash = (19 * hash) + getDescriptor().hashCode();
-      if (hasPosition()) {
-        hash = (37 * hash) + POSITION_FIELD_NUMBER;
-        hash = (53 * hash) + getPosition().hashCode();
-      }
-      switch (rotationCase_) {
-        case 2:
-          hash = (37 * hash) + QUATERNION_FIELD_NUMBER;
-          hash = (53 * hash) + getQuaternion().hashCode();
-          break;
-        case 3:
-          hash = (37 * hash) + EULER_FIELD_NUMBER;
-          hash = (53 * hash) + getEuler().hashCode();
-          break;
-        case 0:
-        default:
-      }
-      hash = (29 * hash) + getUnknownFields().hashCode();
-      memoizedHashCode = hash;
-      return hash;
-    }
-
-    public static cmvr.api.Geometry.SE3Pose parseFrom(
-        java.nio.ByteBuffer data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data);
-    }
-    public static cmvr.api.Geometry.SE3Pose parseFrom(
-        java.nio.ByteBuffer data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data, extensionRegistry);
-    }
-    public static cmvr.api.Geometry.SE3Pose parseFrom(
-        com.google.protobuf.ByteString data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data);
-    }
-    public static cmvr.api.Geometry.SE3Pose parseFrom(
-        com.google.protobuf.ByteString data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data, extensionRegistry);
-    }
-    public static cmvr.api.Geometry.SE3Pose parseFrom(byte[] data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data);
-    }
-    public static cmvr.api.Geometry.SE3Pose parseFrom(
-        byte[] data,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data, extensionRegistry);
-    }
-    public static cmvr.api.Geometry.SE3Pose parseFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageV3
-          .parseWithIOException(PARSER, input);
-    }
-    public static cmvr.api.Geometry.SE3Pose parseFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageV3
-          .parseWithIOException(PARSER, input, extensionRegistry);
-    }
-    public static cmvr.api.Geometry.SE3Pose parseDelimitedFrom(java.io.InputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageV3
-          .parseDelimitedWithIOException(PARSER, input);
-    }
-    public static cmvr.api.Geometry.SE3Pose parseDelimitedFrom(
-        java.io.InputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageV3
-          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
-    }
-    public static cmvr.api.Geometry.SE3Pose parseFrom(
-        com.google.protobuf.CodedInputStream input)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageV3
-          .parseWithIOException(PARSER, input);
-    }
-    public static cmvr.api.Geometry.SE3Pose parseFrom(
-        com.google.protobuf.CodedInputStream input,
-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-        throws java.io.IOException {
-      return com.google.protobuf.GeneratedMessageV3
-          .parseWithIOException(PARSER, input, extensionRegistry);
-    }
-
-    @java.lang.Override
-    public Builder newBuilderForType() { return newBuilder(); }
-    public static Builder newBuilder() {
-      return DEFAULT_INSTANCE.toBuilder();
-    }
-    public static Builder newBuilder(cmvr.api.Geometry.SE3Pose prototype) {
-      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
-    }
-    @java.lang.Override
-    public Builder toBuilder() {
-      return this == DEFAULT_INSTANCE
-          ? new Builder() : new Builder().mergeFrom(this);
-    }
-
-    @java.lang.Override
-    protected Builder newBuilderForType(
-        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
-      Builder builder = new Builder(parent);
-      return builder;
-    }
-    /**
-     * Protobuf type {@code cmvr.api.SE3Pose}
-     */
-    public static final class Builder extends
-        com.google.protobuf.GeneratedMessageV3.Builder implements
-        // @@protoc_insertion_point(builder_implements:cmvr.api.SE3Pose)
-        cmvr.api.Geometry.SE3PoseOrBuilder {
-      public static final com.google.protobuf.Descriptors.Descriptor
-          getDescriptor() {
-        return cmvr.api.Geometry.internal_static_cmvr_api_SE3Pose_descriptor;
-      }
-
-      @java.lang.Override
-      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
-          internalGetFieldAccessorTable() {
-        return cmvr.api.Geometry.internal_static_cmvr_api_SE3Pose_fieldAccessorTable
-            .ensureFieldAccessorsInitialized(
-                cmvr.api.Geometry.SE3Pose.class, cmvr.api.Geometry.SE3Pose.Builder.class);
-      }
-
-      // Construct using cmvr.api.Geometry.SE3Pose.newBuilder()
-      private Builder() {
-
-      }
-
-      private Builder(
-          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
-        super(parent);
-
-      }
-      @java.lang.Override
-      public Builder clear() {
-        super.clear();
-        if (positionBuilder_ == null) {
-          position_ = null;
-        } else {
-          position_ = null;
-          positionBuilder_ = null;
-        }
-        if (quaternionBuilder_ != null) {
-          quaternionBuilder_.clear();
-        }
-        if (eulerBuilder_ != null) {
-          eulerBuilder_.clear();
-        }
-        rotationCase_ = 0;
-        rotation_ = null;
-        return this;
-      }
-
-      @java.lang.Override
-      public com.google.protobuf.Descriptors.Descriptor
-          getDescriptorForType() {
-        return cmvr.api.Geometry.internal_static_cmvr_api_SE3Pose_descriptor;
-      }
-
-      @java.lang.Override
-      public cmvr.api.Geometry.SE3Pose getDefaultInstanceForType() {
-        return cmvr.api.Geometry.SE3Pose.getDefaultInstance();
-      }
-
-      @java.lang.Override
-      public cmvr.api.Geometry.SE3Pose build() {
-        cmvr.api.Geometry.SE3Pose result = buildPartial();
-        if (!result.isInitialized()) {
-          throw newUninitializedMessageException(result);
-        }
-        return result;
-      }
-
-      @java.lang.Override
-      public cmvr.api.Geometry.SE3Pose buildPartial() {
-        cmvr.api.Geometry.SE3Pose result = new cmvr.api.Geometry.SE3Pose(this);
-        if (positionBuilder_ == null) {
-          result.position_ = position_;
-        } else {
-          result.position_ = positionBuilder_.build();
-        }
-        if (rotationCase_ == 2) {
-          if (quaternionBuilder_ == null) {
-            result.rotation_ = rotation_;
-          } else {
-            result.rotation_ = quaternionBuilder_.build();
-          }
-        }
-        if (rotationCase_ == 3) {
-          if (eulerBuilder_ == null) {
-            result.rotation_ = rotation_;
-          } else {
-            result.rotation_ = eulerBuilder_.build();
-          }
-        }
-        result.rotationCase_ = rotationCase_;
-        onBuilt();
-        return result;
-      }
-
-      @java.lang.Override
-      public Builder clone() {
-        return super.clone();
-      }
-      @java.lang.Override
-      public Builder setField(
-          com.google.protobuf.Descriptors.FieldDescriptor field,
-          java.lang.Object value) {
-        return super.setField(field, value);
-      }
-      @java.lang.Override
-      public Builder clearField(
-          com.google.protobuf.Descriptors.FieldDescriptor field) {
-        return super.clearField(field);
-      }
-      @java.lang.Override
-      public Builder clearOneof(
-          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
-        return super.clearOneof(oneof);
-      }
-      @java.lang.Override
-      public Builder setRepeatedField(
-          com.google.protobuf.Descriptors.FieldDescriptor field,
-          int index, java.lang.Object value) {
-        return super.setRepeatedField(field, index, value);
-      }
-      @java.lang.Override
-      public Builder addRepeatedField(
-          com.google.protobuf.Descriptors.FieldDescriptor field,
-          java.lang.Object value) {
-        return super.addRepeatedField(field, value);
-      }
-      @java.lang.Override
-      public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.api.Geometry.SE3Pose) {
-          return mergeFrom((cmvr.api.Geometry.SE3Pose)other);
-        } else {
-          super.mergeFrom(other);
-          return this;
-        }
-      }
-
-      public Builder mergeFrom(cmvr.api.Geometry.SE3Pose other) {
-        if (other == cmvr.api.Geometry.SE3Pose.getDefaultInstance()) return this;
-        if (other.hasPosition()) {
-          mergePosition(other.getPosition());
-        }
-        switch (other.getRotationCase()) {
-          case QUATERNION: {
-            mergeQuaternion(other.getQuaternion());
-            break;
-          }
-          case EULER: {
-            mergeEuler(other.getEuler());
-            break;
-          }
-          case ROTATION_NOT_SET: {
-            break;
-          }
-        }
-        this.mergeUnknownFields(other.getUnknownFields());
-        onChanged();
-        return this;
-      }
-
-      @java.lang.Override
-      public final boolean isInitialized() {
-        return true;
-      }
-
-      @java.lang.Override
-      public Builder mergeFrom(
-          com.google.protobuf.CodedInputStream input,
-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-          throws java.io.IOException {
-        if (extensionRegistry == null) {
-          throw new java.lang.NullPointerException();
-        }
-        try {
-          boolean done = false;
-          while (!done) {
-            int tag = input.readTag();
-            switch (tag) {
-              case 0:
-                done = true;
-                break;
-              case 10: {
-                input.readMessage(
-                    getPositionFieldBuilder().getBuilder(),
-                    extensionRegistry);
-
-                break;
-              } // case 10
-              case 18: {
-                input.readMessage(
-                    getQuaternionFieldBuilder().getBuilder(),
-                    extensionRegistry);
-                rotationCase_ = 2;
-                break;
-              } // case 18
-              case 26: {
-                input.readMessage(
-                    getEulerFieldBuilder().getBuilder(),
-                    extensionRegistry);
-                rotationCase_ = 3;
-                break;
-              } // case 26
-              default: {
-                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
-                  done = true; // was an endgroup tag
-                }
-                break;
-              } // default:
-            } // switch (tag)
-          } // while (!done)
-        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          throw e.unwrapIOException();
-        } finally {
-          onChanged();
-        } // finally
-        return this;
-      }
-      private int rotationCase_ = 0;
-      private java.lang.Object rotation_;
-      public RotationCase
-          getRotationCase() {
-        return RotationCase.forNumber(
-            rotationCase_);
-      }
-
-      public Builder clearRotation() {
-        rotationCase_ = 0;
-        rotation_ = null;
-        onChanged();
-        return this;
-      }
-
-
-      private cmvr.api.Geometry.Vec3 position_;
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.Vec3, cmvr.api.Geometry.Vec3.Builder, cmvr.api.Geometry.Vec3OrBuilder> positionBuilder_;
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec3 position = 1;
-       * @return Whether the position field is set.
-       */
-      public boolean hasPosition() {
-        return positionBuilder_ != null || position_ != null;
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec3 position = 1;
-       * @return The position.
-       */
-      public cmvr.api.Geometry.Vec3 getPosition() {
-        if (positionBuilder_ == null) {
-          return position_ == null ? cmvr.api.Geometry.Vec3.getDefaultInstance() : position_;
-        } else {
-          return positionBuilder_.getMessage();
-        }
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec3 position = 1;
-       */
-      public Builder setPosition(cmvr.api.Geometry.Vec3 value) {
-        if (positionBuilder_ == null) {
-          if (value == null) {
-            throw new NullPointerException();
-          }
-          position_ = value;
-          onChanged();
-        } else {
-          positionBuilder_.setMessage(value);
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec3 position = 1;
-       */
-      public Builder setPosition(
-          cmvr.api.Geometry.Vec3.Builder builderForValue) {
-        if (positionBuilder_ == null) {
-          position_ = builderForValue.build();
-          onChanged();
-        } else {
-          positionBuilder_.setMessage(builderForValue.build());
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec3 position = 1;
-       */
-      public Builder mergePosition(cmvr.api.Geometry.Vec3 value) {
-        if (positionBuilder_ == null) {
-          if (position_ != null) {
-            position_ =
-              cmvr.api.Geometry.Vec3.newBuilder(position_).mergeFrom(value).buildPartial();
-          } else {
-            position_ = value;
-          }
-          onChanged();
-        } else {
-          positionBuilder_.mergeFrom(value);
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec3 position = 1;
-       */
-      public Builder clearPosition() {
-        if (positionBuilder_ == null) {
-          position_ = null;
-          onChanged();
-        } else {
-          position_ = null;
-          positionBuilder_ = null;
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec3 position = 1;
-       */
-      public cmvr.api.Geometry.Vec3.Builder getPositionBuilder() {
-        
-        onChanged();
-        return getPositionFieldBuilder().getBuilder();
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec3 position = 1;
-       */
-      public cmvr.api.Geometry.Vec3OrBuilder getPositionOrBuilder() {
-        if (positionBuilder_ != null) {
-          return positionBuilder_.getMessageOrBuilder();
-        } else {
-          return position_ == null ?
-              cmvr.api.Geometry.Vec3.getDefaultInstance() : position_;
-        }
-      }
-      /**
-       * 
-       * (m)
-       * 

-       *
-       * .cmvr.api.Vec3 position = 1;
-       */
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.Vec3, cmvr.api.Geometry.Vec3.Builder, cmvr.api.Geometry.Vec3OrBuilder> 
-          getPositionFieldBuilder() {
-        if (positionBuilder_ == null) {
-          positionBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.api.Geometry.Vec3, cmvr.api.Geometry.Vec3.Builder, cmvr.api.Geometry.Vec3OrBuilder>(
-                  getPosition(),
-                  getParentForChildren(),
-                  isClean());
-          position_ = null;
-        }
-        return positionBuilder_;
-      }
-
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.Quaternion, cmvr.api.Geometry.Quaternion.Builder, cmvr.api.Geometry.QuaternionOrBuilder> quaternionBuilder_;
-      /**
-       * .cmvr.api.Quaternion quaternion = 2;
-       * @return Whether the quaternion field is set.
-       */
-      @java.lang.Override
-      public boolean hasQuaternion() {
-        return rotationCase_ == 2;
-      }
-      /**
-       * .cmvr.api.Quaternion quaternion = 2;
-       * @return The quaternion.
-       */
-      @java.lang.Override
-      public cmvr.api.Geometry.Quaternion getQuaternion() {
-        if (quaternionBuilder_ == null) {
-          if (rotationCase_ == 2) {
-            return (cmvr.api.Geometry.Quaternion) rotation_;
-          }
-          return cmvr.api.Geometry.Quaternion.getDefaultInstance();
-        } else {
-          if (rotationCase_ == 2) {
-            return quaternionBuilder_.getMessage();
-          }
-          return cmvr.api.Geometry.Quaternion.getDefaultInstance();
-        }
-      }
-      /**
-       * .cmvr.api.Quaternion quaternion = 2;
-       */
-      public Builder setQuaternion(cmvr.api.Geometry.Quaternion value) {
-        if (quaternionBuilder_ == null) {
-          if (value == null) {
-            throw new NullPointerException();
-          }
-          rotation_ = value;
-          onChanged();
-        } else {
-          quaternionBuilder_.setMessage(value);
-        }
-        rotationCase_ = 2;
-        return this;
-      }
-      /**
-       * .cmvr.api.Quaternion quaternion = 2;
-       */
-      public Builder setQuaternion(
-          cmvr.api.Geometry.Quaternion.Builder builderForValue) {
-        if (quaternionBuilder_ == null) {
-          rotation_ = builderForValue.build();
-          onChanged();
-        } else {
-          quaternionBuilder_.setMessage(builderForValue.build());
-        }
-        rotationCase_ = 2;
-        return this;
-      }
-      /**
-       * .cmvr.api.Quaternion quaternion = 2;
-       */
-      public Builder mergeQuaternion(cmvr.api.Geometry.Quaternion value) {
-        if (quaternionBuilder_ == null) {
-          if (rotationCase_ == 2 &&
-              rotation_ != cmvr.api.Geometry.Quaternion.getDefaultInstance()) {
-            rotation_ = cmvr.api.Geometry.Quaternion.newBuilder((cmvr.api.Geometry.Quaternion) rotation_)
-                .mergeFrom(value).buildPartial();
-          } else {
-            rotation_ = value;
-          }
-          onChanged();
-        } else {
-          if (rotationCase_ == 2) {
-            quaternionBuilder_.mergeFrom(value);
-          } else {
-            quaternionBuilder_.setMessage(value);
-          }
-        }
-        rotationCase_ = 2;
-        return this;
-      }
-      /**
-       * .cmvr.api.Quaternion quaternion = 2;
-       */
-      public Builder clearQuaternion() {
-        if (quaternionBuilder_ == null) {
-          if (rotationCase_ == 2) {
-            rotationCase_ = 0;
-            rotation_ = null;
-            onChanged();
-          }
-        } else {
-          if (rotationCase_ == 2) {
-            rotationCase_ = 0;
-            rotation_ = null;
-          }
-          quaternionBuilder_.clear();
-        }
-        return this;
-      }
-      /**
-       * .cmvr.api.Quaternion quaternion = 2;
-       */
-      public cmvr.api.Geometry.Quaternion.Builder getQuaternionBuilder() {
-        return getQuaternionFieldBuilder().getBuilder();
-      }
-      /**
-       * .cmvr.api.Quaternion quaternion = 2;
-       */
-      @java.lang.Override
-      public cmvr.api.Geometry.QuaternionOrBuilder getQuaternionOrBuilder() {
-        if ((rotationCase_ == 2) && (quaternionBuilder_ != null)) {
-          return quaternionBuilder_.getMessageOrBuilder();
-        } else {
-          if (rotationCase_ == 2) {
-            return (cmvr.api.Geometry.Quaternion) rotation_;
-          }
-          return cmvr.api.Geometry.Quaternion.getDefaultInstance();
-        }
-      }
-      /**
-       * .cmvr.api.Quaternion quaternion = 2;
-       */
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.Quaternion, cmvr.api.Geometry.Quaternion.Builder, cmvr.api.Geometry.QuaternionOrBuilder> 
-          getQuaternionFieldBuilder() {
-        if (quaternionBuilder_ == null) {
-          if (!(rotationCase_ == 2)) {
-            rotation_ = cmvr.api.Geometry.Quaternion.getDefaultInstance();
-          }
-          quaternionBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.api.Geometry.Quaternion, cmvr.api.Geometry.Quaternion.Builder, cmvr.api.Geometry.QuaternionOrBuilder>(
-                  (cmvr.api.Geometry.Quaternion) rotation_,
-                  getParentForChildren(),
-                  isClean());
-          rotation_ = null;
-        }
-        rotationCase_ = 2;
-        onChanged();;
-        return quaternionBuilder_;
-      }
-
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.EulerAngleZYX, cmvr.api.Geometry.EulerAngleZYX.Builder, cmvr.api.Geometry.EulerAngleZYXOrBuilder> eulerBuilder_;
-      /**
-       * .cmvr.api.EulerAngleZYX euler = 3;
-       * @return Whether the euler field is set.
-       */
-      @java.lang.Override
-      public boolean hasEuler() {
-        return rotationCase_ == 3;
-      }
-      /**
-       * .cmvr.api.EulerAngleZYX euler = 3;
-       * @return The euler.
-       */
-      @java.lang.Override
-      public cmvr.api.Geometry.EulerAngleZYX getEuler() {
-        if (eulerBuilder_ == null) {
-          if (rotationCase_ == 3) {
-            return (cmvr.api.Geometry.EulerAngleZYX) rotation_;
-          }
-          return cmvr.api.Geometry.EulerAngleZYX.getDefaultInstance();
-        } else {
-          if (rotationCase_ == 3) {
-            return eulerBuilder_.getMessage();
-          }
-          return cmvr.api.Geometry.EulerAngleZYX.getDefaultInstance();
-        }
-      }
-      /**
-       * .cmvr.api.EulerAngleZYX euler = 3;
-       */
-      public Builder setEuler(cmvr.api.Geometry.EulerAngleZYX value) {
-        if (eulerBuilder_ == null) {
-          if (value == null) {
-            throw new NullPointerException();
-          }
-          rotation_ = value;
-          onChanged();
-        } else {
-          eulerBuilder_.setMessage(value);
-        }
-        rotationCase_ = 3;
-        return this;
-      }
-      /**
-       * .cmvr.api.EulerAngleZYX euler = 3;
-       */
-      public Builder setEuler(
-          cmvr.api.Geometry.EulerAngleZYX.Builder builderForValue) {
-        if (eulerBuilder_ == null) {
-          rotation_ = builderForValue.build();
-          onChanged();
-        } else {
-          eulerBuilder_.setMessage(builderForValue.build());
-        }
-        rotationCase_ = 3;
-        return this;
-      }
-      /**
-       * .cmvr.api.EulerAngleZYX euler = 3;
-       */
-      public Builder mergeEuler(cmvr.api.Geometry.EulerAngleZYX value) {
-        if (eulerBuilder_ == null) {
-          if (rotationCase_ == 3 &&
-              rotation_ != cmvr.api.Geometry.EulerAngleZYX.getDefaultInstance()) {
-            rotation_ = cmvr.api.Geometry.EulerAngleZYX.newBuilder((cmvr.api.Geometry.EulerAngleZYX) rotation_)
-                .mergeFrom(value).buildPartial();
-          } else {
-            rotation_ = value;
-          }
-          onChanged();
-        } else {
-          if (rotationCase_ == 3) {
-            eulerBuilder_.mergeFrom(value);
-          } else {
-            eulerBuilder_.setMessage(value);
-          }
-        }
-        rotationCase_ = 3;
-        return this;
-      }
-      /**
-       * .cmvr.api.EulerAngleZYX euler = 3;
-       */
-      public Builder clearEuler() {
-        if (eulerBuilder_ == null) {
-          if (rotationCase_ == 3) {
-            rotationCase_ = 0;
-            rotation_ = null;
-            onChanged();
-          }
-        } else {
-          if (rotationCase_ == 3) {
-            rotationCase_ = 0;
-            rotation_ = null;
-          }
-          eulerBuilder_.clear();
-        }
-        return this;
-      }
-      /**
-       * .cmvr.api.EulerAngleZYX euler = 3;
-       */
-      public cmvr.api.Geometry.EulerAngleZYX.Builder getEulerBuilder() {
-        return getEulerFieldBuilder().getBuilder();
-      }
-      /**
-       * .cmvr.api.EulerAngleZYX euler = 3;
-       */
-      @java.lang.Override
-      public cmvr.api.Geometry.EulerAngleZYXOrBuilder getEulerOrBuilder() {
-        if ((rotationCase_ == 3) && (eulerBuilder_ != null)) {
-          return eulerBuilder_.getMessageOrBuilder();
-        } else {
-          if (rotationCase_ == 3) {
-            return (cmvr.api.Geometry.EulerAngleZYX) rotation_;
-          }
-          return cmvr.api.Geometry.EulerAngleZYX.getDefaultInstance();
-        }
-      }
-      /**
-       * .cmvr.api.EulerAngleZYX euler = 3;
-       */
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.EulerAngleZYX, cmvr.api.Geometry.EulerAngleZYX.Builder, cmvr.api.Geometry.EulerAngleZYXOrBuilder> 
-          getEulerFieldBuilder() {
-        if (eulerBuilder_ == null) {
-          if (!(rotationCase_ == 3)) {
-            rotation_ = cmvr.api.Geometry.EulerAngleZYX.getDefaultInstance();
-          }
-          eulerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.api.Geometry.EulerAngleZYX, cmvr.api.Geometry.EulerAngleZYX.Builder, cmvr.api.Geometry.EulerAngleZYXOrBuilder>(
-                  (cmvr.api.Geometry.EulerAngleZYX) rotation_,
-                  getParentForChildren(),
-                  isClean());
-          rotation_ = null;
-        }
-        rotationCase_ = 3;
-        onChanged();;
-        return eulerBuilder_;
-      }
-      @java.lang.Override
-      public final Builder setUnknownFields(
-          final com.google.protobuf.UnknownFieldSet unknownFields) {
-        return super.setUnknownFields(unknownFields);
-      }
-
-      @java.lang.Override
-      public final Builder mergeUnknownFields(
-          final com.google.protobuf.UnknownFieldSet unknownFields) {
-        return super.mergeUnknownFields(unknownFields);
-      }
-
-
-      // @@protoc_insertion_point(builder_scope:cmvr.api.SE3Pose)
-    }
-
-    // @@protoc_insertion_point(class_scope:cmvr.api.SE3Pose)
-    private static final cmvr.api.Geometry.SE3Pose DEFAULT_INSTANCE;
-    static {
-      DEFAULT_INSTANCE = new cmvr.api.Geometry.SE3Pose();
-    }
-
-    public static cmvr.api.Geometry.SE3Pose getDefaultInstance() {
-      return DEFAULT_INSTANCE;
-    }
-
-    private static final com.google.protobuf.Parser
-        PARSER = new com.google.protobuf.AbstractParser() {
-      @java.lang.Override
-      public SE3Pose parsePartialFrom(
-          com.google.protobuf.CodedInputStream input,
-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-          throws com.google.protobuf.InvalidProtocolBufferException {
-        Builder builder = newBuilder();
-        try {
-          builder.mergeFrom(input, extensionRegistry);
-        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          throw e.setUnfinishedMessage(builder.buildPartial());
-        } catch (com.google.protobuf.UninitializedMessageException e) {
-          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
-        } catch (java.io.IOException e) {
-          throw new com.google.protobuf.InvalidProtocolBufferException(e)
-              .setUnfinishedMessage(builder.buildPartial());
-        }
-        return builder.buildPartial();
-      }
-    };
-
-    public static com.google.protobuf.Parser parser() {
-      return PARSER;
-    }
-
-    @java.lang.Override
-    public com.google.protobuf.Parser getParserForType() {
-      return PARSER;
-    }
-
-    @java.lang.Override
-    public cmvr.api.Geometry.SE3Pose getDefaultInstanceForType() {
-      return DEFAULT_INSTANCE;
-    }
-
-  }
-
-  public interface InertialOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:cmvr.api.Inertial)
-      com.google.protobuf.MessageOrBuilder {
-
-    /**
-     * 
-     * Mass (kg)
-     * 

-     *
-     * double mass = 1;
-     * @return The mass.
-     */
-    double getMass();
-
-    /**
-     * 
-     * Center of mass (m)
-     * 

-     *
-     * .cmvr.api.Vec3 center_of_mass = 2;
-     * @return Whether the centerOfMass field is set.
-     */
-    boolean hasCenterOfMass();
-    /**
-     * 
-     * Center of mass (m)
-     * 

-     *
-     * .cmvr.api.Vec3 center_of_mass = 2;
-     * @return The centerOfMass.
-     */
-    cmvr.api.Geometry.Vec3 getCenterOfMass();
-    /**
-     * 
-     * Center of mass (m)
-     * 

-     *
-     * .cmvr.api.Vec3 center_of_mass = 2;
-     */
-    cmvr.api.Geometry.Vec3OrBuilder getCenterOfMassOrBuilder();
-
-    /**
-     * 
-     * Inertia tensor
-     * 

-     *
-     * .cmvr.api.Inertia inertia = 3;
-     * @return Whether the inertia field is set.
-     */
-    boolean hasInertia();
-    /**
-     * 
-     * Inertia tensor
-     * 

-     *
-     * .cmvr.api.Inertia inertia = 3;
-     * @return The inertia.
-     */
-    cmvr.api.Geometry.Inertia getInertia();
-    /**
-     * 
-     * Inertia tensor
-     * 

-     *
-     * .cmvr.api.Inertia inertia = 3;
-     */
-    cmvr.api.Geometry.InertiaOrBuilder getInertiaOrBuilder();
-  }
-  /**
-   * Protobuf type {@code cmvr.api.Inertial}
-   */
-  public static final class Inertial extends
-      com.google.protobuf.GeneratedMessageV3 implements
-      // @@protoc_insertion_point(message_implements:cmvr.api.Inertial)
-      InertialOrBuilder {
-  private static final long serialVersionUID = 0L;
-    // Use Inertial.newBuilder() to construct.
-    private Inertial(com.google.protobuf.GeneratedMessageV3.Builder builder) {
-      super(builder);
-    }
-    private Inertial() {
-    }
-
-    @java.lang.Override
-    @SuppressWarnings({"unused"})
-    protected java.lang.Object newInstance(
-        UnusedPrivateParameter unused) {
-      return new Inertial();
-    }
-
-    @java.lang.Override
-    public final com.google.protobuf.UnknownFieldSet
-    getUnknownFields() {
-      return this.unknownFields;
-    }
-    public static final com.google.protobuf.Descriptors.Descriptor
-        getDescriptor() {
-      return cmvr.api.Geometry.internal_static_cmvr_api_Inertial_descriptor;
-    }
-
-    @java.lang.Override
-    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
-        internalGetFieldAccessorTable() {
-      return cmvr.api.Geometry.internal_static_cmvr_api_Inertial_fieldAccessorTable
-          .ensureFieldAccessorsInitialized(
-              cmvr.api.Geometry.Inertial.class, cmvr.api.Geometry.Inertial.Builder.class);
-    }
-
-    public static final int MASS_FIELD_NUMBER = 1;
-    private double mass_;
-    /**
-     * 
-     * Mass (kg)
-     * 

-     *
-     * double mass = 1;
-     * @return The mass.
-     */
-    @java.lang.Override
-    public double getMass() {
-      return mass_;
-    }
-
-    public static final int CENTER_OF_MASS_FIELD_NUMBER = 2;
-    private cmvr.api.Geometry.Vec3 centerOfMass_;
-    /**
-     * 
-     * Center of mass (m)
-     * 

-     *
-     * .cmvr.api.Vec3 center_of_mass = 2;
-     * @return Whether the centerOfMass field is set.
-     */
-    @java.lang.Override
-    public boolean hasCenterOfMass() {
-      return centerOfMass_ != null;
-    }
-    /**
-     * 
-     * Center of mass (m)
-     * 

-     *
-     * .cmvr.api.Vec3 center_of_mass = 2;
-     * @return The centerOfMass.
-     */
-    @java.lang.Override
-    public cmvr.api.Geometry.Vec3 getCenterOfMass() {
-      return centerOfMass_ == null ? cmvr.api.Geometry.Vec3.getDefaultInstance() : centerOfMass_;
-    }
-    /**
-     * 
-     * Center of mass (m)
-     * 

-     *
-     * .cmvr.api.Vec3 center_of_mass = 2;
-     */
-    @java.lang.Override
-    public cmvr.api.Geometry.Vec3OrBuilder getCenterOfMassOrBuilder() {
-      return getCenterOfMass();
-    }
-
-    public static final int INERTIA_FIELD_NUMBER = 3;
-    private cmvr.api.Geometry.Inertia inertia_;
-    /**
-     * 
-     * Inertia tensor
-     * 

-     *
-     * .cmvr.api.Inertia inertia = 3;
-     * @return Whether the inertia field is set.
-     */
-    @java.lang.Override
-    public boolean hasInertia() {
-      return inertia_ != null;
-    }
-    /**
-     * 
-     * Inertia tensor
-     * 

-     *
-     * .cmvr.api.Inertia inertia = 3;
-     * @return The inertia.
-     */
-    @java.lang.Override
-    public cmvr.api.Geometry.Inertia getInertia() {
-      return inertia_ == null ? cmvr.api.Geometry.Inertia.getDefaultInstance() : inertia_;
-    }
-    /**
-     * 
-     * Inertia tensor
-     * 

-     *
-     * .cmvr.api.Inertia inertia = 3;
-     */
-    @java.lang.Override
-    public cmvr.api.Geometry.InertiaOrBuilder getInertiaOrBuilder() {
-      return getInertia();
-    }
-
-    private byte memoizedIsInitialized = -1;
-    @java.lang.Override
-    public final boolean isInitialized() {
-      byte isInitialized = memoizedIsInitialized;
-      if (isInitialized == 1) return true;
-      if (isInitialized == 0) return false;
-
-      memoizedIsInitialized = 1;
-      return true;
-    }
-
-    @java.lang.Override
-    public void writeTo(com.google.protobuf.CodedOutputStream output)
-                        throws java.io.IOException {
-      if (java.lang.Double.doubleToRawLongBits(mass_) != 0) {
-        output.writeDouble(1, mass_);
-      }
-      if (centerOfMass_ != null) {
-        output.writeMessage(2, getCenterOfMass());
-      }
-      if (inertia_ != null) {
-        output.writeMessage(3, getInertia());
-      }
-      getUnknownFields().writeTo(output);
-    }
-
-    @java.lang.Override
-    public int getSerializedSize() {
-      int size = memoizedSize;
-      if (size != -1) return size;
-
-      size = 0;
-      if (java.lang.Double.doubleToRawLongBits(mass_) != 0) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeDoubleSize(1, mass_);
-      }
-      if (centerOfMass_ != null) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeMessageSize(2, getCenterOfMass());
-      }
-      if (inertia_ != null) {
-        size += com.google.protobuf.CodedOutputStream
-          .computeMessageSize(3, getInertia());
-      }
-      size += getUnknownFields().getSerializedSize();
-      memoizedSize = size;
-      return size;
-    }
-
-    @java.lang.Override
-    public boolean equals(final java.lang.Object obj) {
-      if (obj == this) {
-       return true;
-      }
-      if (!(obj instanceof cmvr.api.Geometry.Inertial)) {
-        return super.equals(obj);
-      }
-      cmvr.api.Geometry.Inertial other = (cmvr.api.Geometry.Inertial) obj;
-
-      if (java.lang.Double.doubleToLongBits(getMass())
-          != java.lang.Double.doubleToLongBits(
-              other.getMass())) return false;
-      if (hasCenterOfMass() != other.hasCenterOfMass()) return false;
-      if (hasCenterOfMass()) {
-        if (!getCenterOfMass()
-            .equals(other.getCenterOfMass())) return false;
-      }
-      if (hasInertia() != other.hasInertia()) return false;
-      if (hasInertia()) {
-        if (!getInertia()
-            .equals(other.getInertia())) return false;
-      }
-      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
-      return true;
-    }
-
-    @java.lang.Override
-    public int hashCode() {
-      if (memoizedHashCode != 0) {
-        return memoizedHashCode;
-      }
-      int hash = 41;
-      hash = (19 * hash) + getDescriptor().hashCode();
-      hash = (37 * hash) + MASS_FIELD_NUMBER;
-      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
-          java.lang.Double.doubleToLongBits(getMass()));
-      if (hasCenterOfMass()) {
-        hash = (37 * hash) + CENTER_OF_MASS_FIELD_NUMBER;
-        hash = (53 * hash) + getCenterOfMass().hashCode();
-      }
-      if (hasInertia()) {
-        hash = (37 * hash) + INERTIA_FIELD_NUMBER;
-        hash = (53 * hash) + getInertia().hashCode();
-      }
-      hash = (29 * hash) + getUnknownFields().hashCode();
-      memoizedHashCode = hash;
-      return hash;
-    }
-
-    public static cmvr.api.Geometry.Inertial parseFrom(
-        java.nio.ByteBuffer data)
-        throws com.google.protobuf.InvalidProtocolBufferException {
-      return PARSER.parseFrom(data);
-    }
-    public static cmvr.api.Geometry.Inertial parseFrom(
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-        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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-        // @@protoc_insertion_point(builder_implements:cmvr.api.Inertial)
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-      @java.lang.Override
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-      @java.lang.Override
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-        result.mass_ = mass_;
-        if (centerOfMassBuilder_ == null) {
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-      public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.api.Geometry.Inertial) {
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-          super.mergeFrom(other);
-          return this;
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-
-      public Builder mergeFrom(cmvr.api.Geometry.Inertial other) {
-        if (other == cmvr.api.Geometry.Inertial.getDefaultInstance()) return this;
-        if (other.getMass() != 0D) {
-          setMass(other.getMass());
-        }
-        if (other.hasCenterOfMass()) {
-          mergeCenterOfMass(other.getCenterOfMass());
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-        if (other.hasInertia()) {
-          mergeInertia(other.getInertia());
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-        this.mergeUnknownFields(other.getUnknownFields());
-        onChanged();
-        return this;
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-      @java.lang.Override
-      public final boolean isInitialized() {
-        return true;
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-      @java.lang.Override
-      public Builder mergeFrom(
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-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-          throws java.io.IOException {
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-                break;
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-              case 18: {
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-
-                break;
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-              case 26: {
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-      private double mass_ ;
-      /**
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-       * 

-       *
-       * double mass = 1;
-       * @return The mass.
-       */
-      @java.lang.Override
-      public double getMass() {
-        return mass_;
-      }
-      /**
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-       * Mass (kg)
-       * 

-       *
-       * double mass = 1;
-       * @param value The mass to set.
-       * @return This builder for chaining.
-       */
-      public Builder setMass(double value) {
-        
-        mass_ = value;
-        onChanged();
-        return this;
-      }
-      /**
-       * 
-       * Mass (kg)
-       * 

-       *
-       * double mass = 1;
-       * @return This builder for chaining.
-       */
-      public Builder clearMass() {
-        
-        mass_ = 0D;
-        onChanged();
-        return this;
-      }
-
-      private cmvr.api.Geometry.Vec3 centerOfMass_;
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.Vec3, cmvr.api.Geometry.Vec3.Builder, cmvr.api.Geometry.Vec3OrBuilder> centerOfMassBuilder_;
-      /**
-       * 
-       * Center of mass (m)
-       * 

-       *
-       * .cmvr.api.Vec3 center_of_mass = 2;
-       * @return Whether the centerOfMass field is set.
-       */
-      public boolean hasCenterOfMass() {
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-      }
-      /**
-       * 
-       * Center of mass (m)
-       * 

-       *
-       * .cmvr.api.Vec3 center_of_mass = 2;
-       * @return The centerOfMass.
-       */
-      public cmvr.api.Geometry.Vec3 getCenterOfMass() {
-        if (centerOfMassBuilder_ == null) {
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-        } else {
-          return centerOfMassBuilder_.getMessage();
-        }
-      }
-      /**
-       * 
-       * Center of mass (m)
-       * 

-       *
-       * .cmvr.api.Vec3 center_of_mass = 2;
-       */
-      public Builder setCenterOfMass(cmvr.api.Geometry.Vec3 value) {
-        if (centerOfMassBuilder_ == null) {
-          if (value == null) {
-            throw new NullPointerException();
-          }
-          centerOfMass_ = value;
-          onChanged();
-        } else {
-          centerOfMassBuilder_.setMessage(value);
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * Center of mass (m)
-       * 

-       *
-       * .cmvr.api.Vec3 center_of_mass = 2;
-       */
-      public Builder setCenterOfMass(
-          cmvr.api.Geometry.Vec3.Builder builderForValue) {
-        if (centerOfMassBuilder_ == null) {
-          centerOfMass_ = builderForValue.build();
-          onChanged();
-        } else {
-          centerOfMassBuilder_.setMessage(builderForValue.build());
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * Center of mass (m)
-       * 

-       *
-       * .cmvr.api.Vec3 center_of_mass = 2;
-       */
-      public Builder mergeCenterOfMass(cmvr.api.Geometry.Vec3 value) {
-        if (centerOfMassBuilder_ == null) {
-          if (centerOfMass_ != null) {
-            centerOfMass_ =
-              cmvr.api.Geometry.Vec3.newBuilder(centerOfMass_).mergeFrom(value).buildPartial();
-          } else {
-            centerOfMass_ = value;
-          }
-          onChanged();
-        } else {
-          centerOfMassBuilder_.mergeFrom(value);
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * Center of mass (m)
-       * 

-       *
-       * .cmvr.api.Vec3 center_of_mass = 2;
-       */
-      public Builder clearCenterOfMass() {
-        if (centerOfMassBuilder_ == null) {
-          centerOfMass_ = null;
-          onChanged();
-        } else {
-          centerOfMass_ = null;
-          centerOfMassBuilder_ = null;
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * Center of mass (m)
-       * 

-       *
-       * .cmvr.api.Vec3 center_of_mass = 2;
-       */
-      public cmvr.api.Geometry.Vec3.Builder getCenterOfMassBuilder() {
-        
-        onChanged();
-        return getCenterOfMassFieldBuilder().getBuilder();
-      }
-      /**
-       * 
-       * Center of mass (m)
-       * 

-       *
-       * .cmvr.api.Vec3 center_of_mass = 2;
-       */
-      public cmvr.api.Geometry.Vec3OrBuilder getCenterOfMassOrBuilder() {
-        if (centerOfMassBuilder_ != null) {
-          return centerOfMassBuilder_.getMessageOrBuilder();
-        } else {
-          return centerOfMass_ == null ?
-              cmvr.api.Geometry.Vec3.getDefaultInstance() : centerOfMass_;
-        }
-      }
-      /**
-       * 
-       * Center of mass (m)
-       * 

-       *
-       * .cmvr.api.Vec3 center_of_mass = 2;
-       */
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.Vec3, cmvr.api.Geometry.Vec3.Builder, cmvr.api.Geometry.Vec3OrBuilder> 
-          getCenterOfMassFieldBuilder() {
-        if (centerOfMassBuilder_ == null) {
-          centerOfMassBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.api.Geometry.Vec3, cmvr.api.Geometry.Vec3.Builder, cmvr.api.Geometry.Vec3OrBuilder>(
-                  getCenterOfMass(),
-                  getParentForChildren(),
-                  isClean());
-          centerOfMass_ = null;
-        }
-        return centerOfMassBuilder_;
-      }
-
-      private cmvr.api.Geometry.Inertia inertia_;
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.Inertia, cmvr.api.Geometry.Inertia.Builder, cmvr.api.Geometry.InertiaOrBuilder> inertiaBuilder_;
-      /**
-       * 
-       * Inertia tensor
-       * 

-       *
-       * .cmvr.api.Inertia inertia = 3;
-       * @return Whether the inertia field is set.
-       */
-      public boolean hasInertia() {
-        return inertiaBuilder_ != null || inertia_ != null;
-      }
-      /**
-       * 
-       * Inertia tensor
-       * 

-       *
-       * .cmvr.api.Inertia inertia = 3;
-       * @return The inertia.
-       */
-      public cmvr.api.Geometry.Inertia getInertia() {
-        if (inertiaBuilder_ == null) {
-          return inertia_ == null ? cmvr.api.Geometry.Inertia.getDefaultInstance() : inertia_;
-        } else {
-          return inertiaBuilder_.getMessage();
-        }
-      }
-      /**
-       * 
-       * Inertia tensor
-       * 

-       *
-       * .cmvr.api.Inertia inertia = 3;
-       */
-      public Builder setInertia(cmvr.api.Geometry.Inertia value) {
-        if (inertiaBuilder_ == null) {
-          if (value == null) {
-            throw new NullPointerException();
-          }
-          inertia_ = value;
-          onChanged();
-        } else {
-          inertiaBuilder_.setMessage(value);
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * Inertia tensor
-       * 

-       *
-       * .cmvr.api.Inertia inertia = 3;
-       */
-      public Builder setInertia(
-          cmvr.api.Geometry.Inertia.Builder builderForValue) {
-        if (inertiaBuilder_ == null) {
-          inertia_ = builderForValue.build();
-          onChanged();
-        } else {
-          inertiaBuilder_.setMessage(builderForValue.build());
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * Inertia tensor
-       * 

-       *
-       * .cmvr.api.Inertia inertia = 3;
-       */
-      public Builder mergeInertia(cmvr.api.Geometry.Inertia value) {
-        if (inertiaBuilder_ == null) {
-          if (inertia_ != null) {
-            inertia_ =
-              cmvr.api.Geometry.Inertia.newBuilder(inertia_).mergeFrom(value).buildPartial();
-          } else {
-            inertia_ = value;
-          }
-          onChanged();
-        } else {
-          inertiaBuilder_.mergeFrom(value);
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * Inertia tensor
-       * 

-       *
-       * .cmvr.api.Inertia inertia = 3;
-       */
-      public Builder clearInertia() {
-        if (inertiaBuilder_ == null) {
-          inertia_ = null;
-          onChanged();
-        } else {
-          inertia_ = null;
-          inertiaBuilder_ = null;
-        }
-
-        return this;
-      }
-      /**
-       * 
-       * Inertia tensor
-       * 

-       *
-       * .cmvr.api.Inertia inertia = 3;
-       */
-      public cmvr.api.Geometry.Inertia.Builder getInertiaBuilder() {
-        
-        onChanged();
-        return getInertiaFieldBuilder().getBuilder();
-      }
-      /**
-       * 
-       * Inertia tensor
-       * 

-       *
-       * .cmvr.api.Inertia inertia = 3;
-       */
-      public cmvr.api.Geometry.InertiaOrBuilder getInertiaOrBuilder() {
-        if (inertiaBuilder_ != null) {
-          return inertiaBuilder_.getMessageOrBuilder();
-        } else {
-          return inertia_ == null ?
-              cmvr.api.Geometry.Inertia.getDefaultInstance() : inertia_;
-        }
-      }
-      /**
-       * 
-       * Inertia tensor
-       * 

-       *
-       * .cmvr.api.Inertia inertia = 3;
-       */
-      private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.api.Geometry.Inertia, cmvr.api.Geometry.Inertia.Builder, cmvr.api.Geometry.InertiaOrBuilder> 
-          getInertiaFieldBuilder() {
-        if (inertiaBuilder_ == null) {
-          inertiaBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.api.Geometry.Inertia, cmvr.api.Geometry.Inertia.Builder, cmvr.api.Geometry.InertiaOrBuilder>(
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-                  getParentForChildren(),
-                  isClean());
-          inertia_ = null;
-        }
-        return inertiaBuilder_;
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-      @java.lang.Override
-      public final Builder setUnknownFields(
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-        return super.setUnknownFields(unknownFields);
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-      @java.lang.Override
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-
-      // @@protoc_insertion_point(builder_scope:cmvr.api.Inertial)
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-    static {
-      DEFAULT_INSTANCE = new cmvr.api.Geometry.Inertial();
-    }
-
-    public static cmvr.api.Geometry.Inertial getDefaultInstance() {
-      return DEFAULT_INSTANCE;
-    }
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-    private static final com.google.protobuf.Parser
-        PARSER = new com.google.protobuf.AbstractParser() {
-      @java.lang.Override
-      public Inertial parsePartialFrom(
-          com.google.protobuf.CodedInputStream input,
-          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
-          throws com.google.protobuf.InvalidProtocolBufferException {
-        Builder builder = newBuilder();
-        try {
-          builder.mergeFrom(input, extensionRegistry);
-        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
-          throw e.setUnfinishedMessage(builder.buildPartial());
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-          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
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-          throw new com.google.protobuf.InvalidProtocolBufferException(e)
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-        return builder.buildPartial();
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-    public static com.google.protobuf.Parser parser() {
-      return PARSER;
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-
-    @java.lang.Override
-    public com.google.protobuf.Parser getParserForType() {
-      return PARSER;
-    }
-
-    @java.lang.Override
-    public cmvr.api.Geometry.Inertial getDefaultInstanceForType() {
-      return DEFAULT_INSTANCE;
-    }
-
-  }
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-  public interface InertiaOrBuilder extends
-      // @@protoc_insertion_point(interface_extends:cmvr.api.Inertia)
-      com.google.protobuf.MessageOrBuilder {
-
-    /**
-     * double ixx = 1;
-     * @return The ixx.
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-    double getIxx();
-
-    /**
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-     * @return The iyy.
-     */
-    double getIyy();
-
-    /**
-     * double izz = 3;
-     * @return The izz.
-     */
-    double getIzz();
-
-    /**
-     * double ixy = 4;
-     * @return The ixy.
-     */
-    double getIxy();
-
-    /**
-     * double ixz = 5;
-     * @return The ixz.
-     */
-    double getIxz();
-
-    /**
-     * double iyz = 6;
-     * @return The iyz.
-     */
-    double getIyz();
-  }
-  /**
-   * 
-   * Inertia tensor components (kg*m^2)
-   * 

-   *
-   * Protobuf type {@code cmvr.api.Inertia}
-   */
-  public static final class Inertia extends
-      com.google.protobuf.GeneratedMessageV3 implements
-      // @@protoc_insertion_point(message_implements:cmvr.api.Inertia)
-      InertiaOrBuilder {
-  private static final long serialVersionUID = 0L;
-    // Use Inertia.newBuilder() to construct.
-    private Inertia(com.google.protobuf.GeneratedMessageV3.Builder builder) {
-      super(builder);
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-    private Inertia() {
-    }
-
-    @java.lang.Override
-    @SuppressWarnings({"unused"})
-    protected java.lang.Object newInstance(
-        UnusedPrivateParameter unused) {
-      return new Inertia();
-    }
-
-    @java.lang.Override
-    public final com.google.protobuf.UnknownFieldSet
-    getUnknownFields() {
-      return this.unknownFields;
-    }
-    public static final com.google.protobuf.Descriptors.Descriptor
-        getDescriptor() {
-      return cmvr.api.Geometry.internal_static_cmvr_api_Inertia_descriptor;
-    }
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-    @java.lang.Override
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-      "nion\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\022\t\n\001z\030\003 \001(\001\022\t\n" +
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-      getDescriptor().getMessageTypes().get(1);
-    internal_static_cmvr_api_Vec3_fieldAccessorTable = new
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-      getDescriptor().getMessageTypes().get(2);
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-      getDescriptor().getMessageTypes().get(3);
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-    internal_static_cmvr_api_Quaternion_descriptor =
-      getDescriptor().getMessageTypes().get(4);
-    internal_static_cmvr_api_Quaternion_fieldAccessorTable = new
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-      getDescriptor().getMessageTypes().get(5);
-    internal_static_cmvr_api_EulerAngleZYX_fieldAccessorTable = new
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-    internal_static_cmvr_api_SE3Pose_descriptor =
-      getDescriptor().getMessageTypes().get(6);
-    internal_static_cmvr_api_SE3Pose_fieldAccessorTable = new
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-    internal_static_cmvr_api_Inertial_descriptor =
-      getDescriptor().getMessageTypes().get(7);
-    internal_static_cmvr_api_Inertial_fieldAccessorTable = new
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-    internal_static_cmvr_api_Inertia_descriptor =
-      getDescriptor().getMessageTypes().get(8);
-    internal_static_cmvr_api_Inertia_fieldAccessorTable = new
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-  }
-
-  // @@protoc_insertion_point(outer_class_scope)
-}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/MotorCommand.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/MotorCommand.java
new file mode 100644
index 0000000..4c0715c
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/MotorCommand.java
@@ -0,0 +1,15606 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/api/motor_command.proto
+
+package cmvr.api;
+
+public final class MotorCommand {
+  private MotorCommand() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+  /**
+   * Protobuf enum {@code cmvr.api.MotorControlType}
+   */
+  public enum MotorControlType
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * MOTOR_CONTROL_NONE = 0;
+     */
+    MOTOR_CONTROL_NONE(0),
+    /**
+     * MOTOR_CONTROL_SET_ZERO = 1;
+     */
+    MOTOR_CONTROL_SET_ZERO(1),
+    /**
+     * MOTOR_CONTROL_PROFILE_POSITION = 2;
+     */
+    MOTOR_CONTROL_PROFILE_POSITION(2),
+    /**
+     * MOTOR_CONTROL_PROFILE_VELOCITY = 3;
+     */
+    MOTOR_CONTROL_PROFILE_VELOCITY(3),
+    /**
+     * MOTOR_CONTROL_CYCLIC_POSITION = 4;
+     */
+    MOTOR_CONTROL_CYCLIC_POSITION(4),
+    /**
+     * MOTOR_CONTROL_CYCLIC_VELOCITY = 5;
+     */
+    MOTOR_CONTROL_CYCLIC_VELOCITY(5),
+    /**
+     * MOTOR_CONTROL_SET_ENABLED = 6;
+     */
+    MOTOR_CONTROL_SET_ENABLED(6),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * MOTOR_CONTROL_NONE = 0;
+     */
+    public static final int MOTOR_CONTROL_NONE_VALUE = 0;
+    /**
+     * MOTOR_CONTROL_SET_ZERO = 1;
+     */
+    public static final int MOTOR_CONTROL_SET_ZERO_VALUE = 1;
+    /**
+     * MOTOR_CONTROL_PROFILE_POSITION = 2;
+     */
+    public static final int MOTOR_CONTROL_PROFILE_POSITION_VALUE = 2;
+    /**
+     * MOTOR_CONTROL_PROFILE_VELOCITY = 3;
+     */
+    public static final int MOTOR_CONTROL_PROFILE_VELOCITY_VALUE = 3;
+    /**
+     * MOTOR_CONTROL_CYCLIC_POSITION = 4;
+     */
+    public static final int MOTOR_CONTROL_CYCLIC_POSITION_VALUE = 4;
+    /**
+     * MOTOR_CONTROL_CYCLIC_VELOCITY = 5;
+     */
+    public static final int MOTOR_CONTROL_CYCLIC_VELOCITY_VALUE = 5;
+    /**
+     * MOTOR_CONTROL_SET_ENABLED = 6;
+     */
+    public static final int MOTOR_CONTROL_SET_ENABLED_VALUE = 6;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static MotorControlType valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static MotorControlType forNumber(int value) {
+      switch (value) {
+        case 0: return MOTOR_CONTROL_NONE;
+        case 1: return MOTOR_CONTROL_SET_ZERO;
+        case 2: return MOTOR_CONTROL_PROFILE_POSITION;
+        case 3: return MOTOR_CONTROL_PROFILE_VELOCITY;
+        case 4: return MOTOR_CONTROL_CYCLIC_POSITION;
+        case 5: return MOTOR_CONTROL_CYCLIC_VELOCITY;
+        case 6: return MOTOR_CONTROL_SET_ENABLED;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        MotorControlType> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public MotorControlType findValueByNumber(int number) {
+              return MotorControlType.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.getDescriptor().getEnumTypes().get(0);
+    }
+
+    private static final MotorControlType[] VALUES = values();
+
+    public static MotorControlType valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private MotorControlType(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.api.MotorControlType)
+  }
+
+  /**
+   * Protobuf enum {@code cmvr.api.CyclicStreamPhase}
+   */
+  public enum CyclicStreamPhase
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * CYCLIC_STREAM_PHASE_UNSPECIFIED = 0;
+     */
+    CYCLIC_STREAM_PHASE_UNSPECIFIED(0),
+    /**
+     * CYCLIC_STREAM_OPENED = 1;
+     */
+    CYCLIC_STREAM_OPENED(1),
+    /**
+     * CYCLIC_STREAM_APPLIED = 2;
+     */
+    CYCLIC_STREAM_APPLIED(2),
+    /**
+     * CYCLIC_STREAM_STOPPED = 3;
+     */
+    CYCLIC_STREAM_STOPPED(3),
+    /**
+     * CYCLIC_STREAM_WATCHDOG_EXPIRED = 4;
+     */
+    CYCLIC_STREAM_WATCHDOG_EXPIRED(4),
+    /**
+     * CYCLIC_STREAM_FAILED = 5;
+     */
+    CYCLIC_STREAM_FAILED(5),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * CYCLIC_STREAM_PHASE_UNSPECIFIED = 0;
+     */
+    public static final int CYCLIC_STREAM_PHASE_UNSPECIFIED_VALUE = 0;
+    /**
+     * CYCLIC_STREAM_OPENED = 1;
+     */
+    public static final int CYCLIC_STREAM_OPENED_VALUE = 1;
+    /**
+     * CYCLIC_STREAM_APPLIED = 2;
+     */
+    public static final int CYCLIC_STREAM_APPLIED_VALUE = 2;
+    /**
+     * CYCLIC_STREAM_STOPPED = 3;
+     */
+    public static final int CYCLIC_STREAM_STOPPED_VALUE = 3;
+    /**
+     * CYCLIC_STREAM_WATCHDOG_EXPIRED = 4;
+     */
+    public static final int CYCLIC_STREAM_WATCHDOG_EXPIRED_VALUE = 4;
+    /**
+     * CYCLIC_STREAM_FAILED = 5;
+     */
+    public static final int CYCLIC_STREAM_FAILED_VALUE = 5;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static CyclicStreamPhase valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static CyclicStreamPhase forNumber(int value) {
+      switch (value) {
+        case 0: return CYCLIC_STREAM_PHASE_UNSPECIFIED;
+        case 1: return CYCLIC_STREAM_OPENED;
+        case 2: return CYCLIC_STREAM_APPLIED;
+        case 3: return CYCLIC_STREAM_STOPPED;
+        case 4: return CYCLIC_STREAM_WATCHDOG_EXPIRED;
+        case 5: return CYCLIC_STREAM_FAILED;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        CyclicStreamPhase> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public CyclicStreamPhase findValueByNumber(int number) {
+              return CyclicStreamPhase.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.getDescriptor().getEnumTypes().get(1);
+    }
+
+    private static final CyclicStreamPhase[] VALUES = values();
+
+    public static CyclicStreamPhase valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private CyclicStreamPhase(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.api.CyclicStreamPhase)
+  }
+
+  public interface MotorTargetOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.MotorTarget)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.CommandHeader.Request header = 1;
+     * @return Whether the header field is set.
+     */
+    boolean hasHeader();
+    /**
+     * .cmvr.api.CommandHeader.Request header = 1;
+     * @return The header.
+     */
+    cmvr.api.Common.CommandHeader.Request getHeader();
+    /**
+     * .cmvr.api.CommandHeader.Request header = 1;
+     */
+    cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder();
+
+    /**
+     * uint32 motor_id = 2;
+     * @return Whether the motorId field is set.
+     */
+    boolean hasMotorId();
+    /**
+     * uint32 motor_id = 2;
+     * @return The motorId.
+     */
+    int getMotorId();
+
+    /**
+     * string joint_name = 3;
+     * @return Whether the jointName field is set.
+     */
+    boolean hasJointName();
+    /**
+     * string joint_name = 3;
+     * @return The jointName.
+     */
+    java.lang.String getJointName();
+    /**
+     * string joint_name = 3;
+     * @return The bytes for jointName.
+     */
+    com.google.protobuf.ByteString
+        getJointNameBytes();
+
+    public cmvr.api.MotorCommand.MotorTarget.SelectorCase getSelectorCase();
+  }
+  /**
+   * 
+   * Selects exactly one motor inside the MotorManager named by header.device_id.
+   * 

+   *
+   * Protobuf type {@code cmvr.api.MotorTarget}
+   */
+  public static final class MotorTarget extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.MotorTarget)
+      MotorTargetOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use MotorTarget.newBuilder() to construct.
+    private MotorTarget(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private MotorTarget() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new MotorTarget();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorTarget_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorTarget_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.MotorCommand.MotorTarget.class, cmvr.api.MotorCommand.MotorTarget.Builder.class);
+    }
+
+    private int selectorCase_ = 0;
+    private java.lang.Object selector_;
+    public enum SelectorCase
+        implements com.google.protobuf.Internal.EnumLite,
+            com.google.protobuf.AbstractMessage.InternalOneOfEnum {
+      MOTOR_ID(2),
+      JOINT_NAME(3),
+      SELECTOR_NOT_SET(0);
+      private final int value;
+      private SelectorCase(int value) {
+        this.value = value;
+      }
+      /**
+       * @param value The number of the enum to look for.
+       * @return The enum associated with the given number.
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static SelectorCase valueOf(int value) {
+        return forNumber(value);
+      }
+
+      public static SelectorCase forNumber(int value) {
+        switch (value) {
+          case 2: return MOTOR_ID;
+          case 3: return JOINT_NAME;
+          case 0: return SELECTOR_NOT_SET;
+          default: return null;
+        }
+      }
+      public int getNumber() {
+        return this.value;
+      }
+    };
+
+    public SelectorCase
+    getSelectorCase() {
+      return SelectorCase.forNumber(
+          selectorCase_);
+    }
+
+    public static final int HEADER_FIELD_NUMBER = 1;
+    private cmvr.api.Common.CommandHeader.Request header_;
+    /**
+     * .cmvr.api.CommandHeader.Request header = 1;
+     * @return Whether the header field is set.
+     */
+    @java.lang.Override
+    public boolean hasHeader() {
+      return header_ != null;
+    }
+    /**
+     * .cmvr.api.CommandHeader.Request header = 1;
+     * @return The header.
+     */
+    @java.lang.Override
+    public cmvr.api.Common.CommandHeader.Request getHeader() {
+      return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+    }
+    /**
+     * .cmvr.api.CommandHeader.Request header = 1;
+     */
+    @java.lang.Override
+    public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
+      return getHeader();
+    }
+
+    public static final int MOTOR_ID_FIELD_NUMBER = 2;
+    /**
+     * uint32 motor_id = 2;
+     * @return Whether the motorId field is set.
+     */
+    @java.lang.Override
+    public boolean hasMotorId() {
+      return selectorCase_ == 2;
+    }
+    /**
+     * uint32 motor_id = 2;
+     * @return The motorId.
+     */
+    @java.lang.Override
+    public int getMotorId() {
+      if (selectorCase_ == 2) {
+        return (java.lang.Integer) selector_;
+      }
+      return 0;
+    }
+
+    public static final int JOINT_NAME_FIELD_NUMBER = 3;
+    /**
+     * string joint_name = 3;
+     * @return Whether the jointName field is set.
+     */
+    public boolean hasJointName() {
+      return selectorCase_ == 3;
+    }
+    /**
+     * string joint_name = 3;
+     * @return The jointName.
+     */
+    public java.lang.String getJointName() {
+      java.lang.Object ref = "";
+      if (selectorCase_ == 3) {
+        ref = selector_;
+      }
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        if (selectorCase_ == 3) {
+          selector_ = s;
+        }
+        return s;
+      }
+    }
+    /**
+     * string joint_name = 3;
+     * @return The bytes for jointName.
+     */
+    public com.google.protobuf.ByteString
+        getJointNameBytes() {
+      java.lang.Object ref = "";
+      if (selectorCase_ == 3) {
+        ref = selector_;
+      }
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        if (selectorCase_ == 3) {
+          selector_ = b;
+        }
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (header_ != null) {
+        output.writeMessage(1, getHeader());
+      }
+      if (selectorCase_ == 2) {
+        output.writeUInt32(
+            2, (int)((java.lang.Integer) selector_));
+      }
+      if (selectorCase_ == 3) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 3, selector_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (header_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(1, getHeader());
+      }
+      if (selectorCase_ == 2) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(
+              2, (int)((java.lang.Integer) selector_));
+      }
+      if (selectorCase_ == 3) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(3, selector_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.MotorTarget)) {
+        return super.equals(obj);
+      }
+      cmvr.api.MotorCommand.MotorTarget other = (cmvr.api.MotorCommand.MotorTarget) obj;
+
+      if (hasHeader() != other.hasHeader()) return false;
+      if (hasHeader()) {
+        if (!getHeader()
+            .equals(other.getHeader())) return false;
+      }
+      if (!getSelectorCase().equals(other.getSelectorCase())) return false;
+      switch (selectorCase_) {
+        case 2:
+          if (getMotorId()
+              != other.getMotorId()) return false;
+          break;
+        case 3:
+          if (!getJointName()
+              .equals(other.getJointName())) return false;
+          break;
+        case 0:
+        default:
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasHeader()) {
+        hash = (37 * hash) + HEADER_FIELD_NUMBER;
+        hash = (53 * hash) + getHeader().hashCode();
+      }
+      switch (selectorCase_) {
+        case 2:
+          hash = (37 * hash) + MOTOR_ID_FIELD_NUMBER;
+          hash = (53 * hash) + getMotorId();
+          break;
+        case 3:
+          hash = (37 * hash) + JOINT_NAME_FIELD_NUMBER;
+          hash = (53 * hash) + getJointName().hashCode();
+          break;
+        case 0:
+        default:
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.MotorCommand.MotorTarget parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MotorTarget parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorTarget parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MotorTarget parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorTarget parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MotorTarget parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorTarget parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MotorTarget parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorTarget parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MotorTarget parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorTarget parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MotorTarget parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.MotorTarget prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * 
+     * Selects exactly one motor inside the MotorManager named by header.device_id.
+     * 

+     *
+     * Protobuf type {@code cmvr.api.MotorTarget}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.MotorTarget)
+        cmvr.api.MotorCommand.MotorTargetOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorTarget_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorTarget_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.MotorTarget.class, cmvr.api.MotorCommand.MotorTarget.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.MotorTarget.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (headerBuilder_ == null) {
+          header_ = null;
+        } else {
+          header_ = null;
+          headerBuilder_ = null;
+        }
+        selectorCase_ = 0;
+        selector_ = null;
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorTarget_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorTarget getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.MotorTarget.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorTarget build() {
+        cmvr.api.MotorCommand.MotorTarget result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorTarget buildPartial() {
+        cmvr.api.MotorCommand.MotorTarget result = new cmvr.api.MotorCommand.MotorTarget(this);
+        if (headerBuilder_ == null) {
+          result.header_ = header_;
+        } else {
+          result.header_ = headerBuilder_.build();
+        }
+        if (selectorCase_ == 2) {
+          result.selector_ = selector_;
+        }
+        if (selectorCase_ == 3) {
+          result.selector_ = selector_;
+        }
+        result.selectorCase_ = selectorCase_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.MotorTarget) {
+          return mergeFrom((cmvr.api.MotorCommand.MotorTarget)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.MotorTarget other) {
+        if (other == cmvr.api.MotorCommand.MotorTarget.getDefaultInstance()) return this;
+        if (other.hasHeader()) {
+          mergeHeader(other.getHeader());
+        }
+        switch (other.getSelectorCase()) {
+          case MOTOR_ID: {
+            setMotorId(other.getMotorId());
+            break;
+          }
+          case JOINT_NAME: {
+            selectorCase_ = 3;
+            selector_ = other.selector_;
+            onChanged();
+            break;
+          }
+          case SELECTOR_NOT_SET: {
+            break;
+          }
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
+                    getHeaderFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 10
+              case 16: {
+                selector_ = input.readUInt32();
+                selectorCase_ = 2;
+                break;
+              } // case 16
+              case 26: {
+                java.lang.String s = input.readStringRequireUtf8();
+                selectorCase_ = 3;
+                selector_ = s;
+                break;
+              } // case 26
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int selectorCase_ = 0;
+      private java.lang.Object selector_;
+      public SelectorCase
+          getSelectorCase() {
+        return SelectorCase.forNumber(
+            selectorCase_);
+      }
+
+      public Builder clearSelector() {
+        selectorCase_ = 0;
+        selector_ = null;
+        onChanged();
+        return this;
+      }
+
+
+      private cmvr.api.Common.CommandHeader.Request header_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> headerBuilder_;
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       * @return Whether the header field is set.
+       */
+      public boolean hasHeader() {
+        return headerBuilder_ != null || header_ != null;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       * @return The header.
+       */
+      public cmvr.api.Common.CommandHeader.Request getHeader() {
+        if (headerBuilder_ == null) {
+          return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+        } else {
+          return headerBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       */
+      public Builder setHeader(cmvr.api.Common.CommandHeader.Request value) {
+        if (headerBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          header_ = value;
+          onChanged();
+        } else {
+          headerBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       */
+      public Builder setHeader(
+          cmvr.api.Common.CommandHeader.Request.Builder builderForValue) {
+        if (headerBuilder_ == null) {
+          header_ = builderForValue.build();
+          onChanged();
+        } else {
+          headerBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       */
+      public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
+        if (headerBuilder_ == null) {
+          if (header_ != null) {
+            header_ =
+              cmvr.api.Common.CommandHeader.Request.newBuilder(header_).mergeFrom(value).buildPartial();
+          } else {
+            header_ = value;
+          }
+          onChanged();
+        } else {
+          headerBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       */
+      public Builder clearHeader() {
+        if (headerBuilder_ == null) {
+          header_ = null;
+          onChanged();
+        } else {
+          header_ = null;
+          headerBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       */
+      public cmvr.api.Common.CommandHeader.Request.Builder getHeaderBuilder() {
+        
+        onChanged();
+        return getHeaderFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       */
+      public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
+        if (headerBuilder_ != null) {
+          return headerBuilder_.getMessageOrBuilder();
+        } else {
+          return header_ == null ?
+              cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+        }
+      }
+      /**
+       * .cmvr.api.CommandHeader.Request header = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> 
+          getHeaderFieldBuilder() {
+        if (headerBuilder_ == null) {
+          headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder>(
+                  getHeader(),
+                  getParentForChildren(),
+                  isClean());
+          header_ = null;
+        }
+        return headerBuilder_;
+      }
+
+      /**
+       * uint32 motor_id = 2;
+       * @return Whether the motorId field is set.
+       */
+      public boolean hasMotorId() {
+        return selectorCase_ == 2;
+      }
+      /**
+       * uint32 motor_id = 2;
+       * @return The motorId.
+       */
+      public int getMotorId() {
+        if (selectorCase_ == 2) {
+          return (java.lang.Integer) selector_;
+        }
+        return 0;
+      }
+      /**
+       * uint32 motor_id = 2;
+       * @param value The motorId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMotorId(int value) {
+        selectorCase_ = 2;
+        selector_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint32 motor_id = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearMotorId() {
+        if (selectorCase_ == 2) {
+          selectorCase_ = 0;
+          selector_ = null;
+          onChanged();
+        }
+        return this;
+      }
+
+      /**
+       * string joint_name = 3;
+       * @return Whether the jointName field is set.
+       */
+      @java.lang.Override
+      public boolean hasJointName() {
+        return selectorCase_ == 3;
+      }
+      /**
+       * string joint_name = 3;
+       * @return The jointName.
+       */
+      @java.lang.Override
+      public java.lang.String getJointName() {
+        java.lang.Object ref = "";
+        if (selectorCase_ == 3) {
+          ref = selector_;
+        }
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          if (selectorCase_ == 3) {
+            selector_ = s;
+          }
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string joint_name = 3;
+       * @return The bytes for jointName.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString
+          getJointNameBytes() {
+        java.lang.Object ref = "";
+        if (selectorCase_ == 3) {
+          ref = selector_;
+        }
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          if (selectorCase_ == 3) {
+            selector_ = b;
+          }
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string joint_name = 3;
+       * @param value The jointName to set.
+       * @return This builder for chaining.
+       */
+      public Builder setJointName(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  selectorCase_ = 3;
+        selector_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string joint_name = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearJointName() {
+        if (selectorCase_ == 3) {
+          selectorCase_ = 0;
+          selector_ = null;
+          onChanged();
+        }
+        return this;
+      }
+      /**
+       * string joint_name = 3;
+       * @param value The bytes for jointName to set.
+       * @return This builder for chaining.
+       */
+      public Builder setJointNameBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        selectorCase_ = 3;
+        selector_ = value;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.MotorTarget)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.MotorTarget)
+    private static final cmvr.api.MotorCommand.MotorTarget DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.MotorTarget();
+    }
+
+    public static cmvr.api.MotorCommand.MotorTarget getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public MotorTarget parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTarget getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface MotorWaitOptionsOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.MotorWaitOptions)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * 
+     * Zero selects the server default (30 seconds).
+     * 

+     *
+     * uint32 timeout_ms = 1;
+     * @return The timeoutMs.
+     */
+    int getTimeoutMs();
+
+    /**
+     * 
+     * Zero selects the server default (10 milliseconds).
+     * 

+     *
+     * uint32 poll_period_ms = 2;
+     * @return The pollPeriodMs.
+     */
+    int getPollPeriodMs();
+
+    /**
+     * 
+     * Zero selects the server default.
+     * 

+     *
+     * double position_tolerance_rad = 3;
+     * @return The positionToleranceRad.
+     */
+    double getPositionToleranceRad();
+
+    /**
+     * double velocity_tolerance_rad_s = 4;
+     * @return The velocityToleranceRadS.
+     */
+    double getVelocityToleranceRadS();
+
+    /**
+     * 
+     * Number of consecutive in-tolerance samples. Zero selects the default (3).
+     * 

+     *
+     * uint32 settle_sample_count = 5;
+     * @return The settleSampleCount.
+     */
+    int getSettleSampleCount();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.MotorWaitOptions}
+   */
+  public static final class MotorWaitOptions extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.MotorWaitOptions)
+      MotorWaitOptionsOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use MotorWaitOptions.newBuilder() to construct.
+    private MotorWaitOptions(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private MotorWaitOptions() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new MotorWaitOptions();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorWaitOptions_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorWaitOptions_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.MotorCommand.MotorWaitOptions.class, cmvr.api.MotorCommand.MotorWaitOptions.Builder.class);
+    }
+
+    public static final int TIMEOUT_MS_FIELD_NUMBER = 1;
+    private int timeoutMs_;
+    /**
+     * 
+     * Zero selects the server default (30 seconds).
+     * 

+     *
+     * uint32 timeout_ms = 1;
+     * @return The timeoutMs.
+     */
+    @java.lang.Override
+    public int getTimeoutMs() {
+      return timeoutMs_;
+    }
+
+    public static final int POLL_PERIOD_MS_FIELD_NUMBER = 2;
+    private int pollPeriodMs_;
+    /**
+     * 
+     * Zero selects the server default (10 milliseconds).
+     * 

+     *
+     * uint32 poll_period_ms = 2;
+     * @return The pollPeriodMs.
+     */
+    @java.lang.Override
+    public int getPollPeriodMs() {
+      return pollPeriodMs_;
+    }
+
+    public static final int POSITION_TOLERANCE_RAD_FIELD_NUMBER = 3;
+    private double positionToleranceRad_;
+    /**
+     * 
+     * Zero selects the server default.
+     * 

+     *
+     * double position_tolerance_rad = 3;
+     * @return The positionToleranceRad.
+     */
+    @java.lang.Override
+    public double getPositionToleranceRad() {
+      return positionToleranceRad_;
+    }
+
+    public static final int VELOCITY_TOLERANCE_RAD_S_FIELD_NUMBER = 4;
+    private double velocityToleranceRadS_;
+    /**
+     * double velocity_tolerance_rad_s = 4;
+     * @return The velocityToleranceRadS.
+     */
+    @java.lang.Override
+    public double getVelocityToleranceRadS() {
+      return velocityToleranceRadS_;
+    }
+
+    public static final int SETTLE_SAMPLE_COUNT_FIELD_NUMBER = 5;
+    private int settleSampleCount_;
+    /**
+     * 
+     * Number of consecutive in-tolerance samples. Zero selects the default (3).
+     * 

+     *
+     * uint32 settle_sample_count = 5;
+     * @return The settleSampleCount.
+     */
+    @java.lang.Override
+    public int getSettleSampleCount() {
+      return settleSampleCount_;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (timeoutMs_ != 0) {
+        output.writeUInt32(1, timeoutMs_);
+      }
+      if (pollPeriodMs_ != 0) {
+        output.writeUInt32(2, pollPeriodMs_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(positionToleranceRad_) != 0) {
+        output.writeDouble(3, positionToleranceRad_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(velocityToleranceRadS_) != 0) {
+        output.writeDouble(4, velocityToleranceRadS_);
+      }
+      if (settleSampleCount_ != 0) {
+        output.writeUInt32(5, settleSampleCount_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (timeoutMs_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(1, timeoutMs_);
+      }
+      if (pollPeriodMs_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(2, pollPeriodMs_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(positionToleranceRad_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(3, positionToleranceRad_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(velocityToleranceRadS_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(4, velocityToleranceRadS_);
+      }
+      if (settleSampleCount_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(5, settleSampleCount_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.MotorWaitOptions)) {
+        return super.equals(obj);
+      }
+      cmvr.api.MotorCommand.MotorWaitOptions other = (cmvr.api.MotorCommand.MotorWaitOptions) obj;
+
+      if (getTimeoutMs()
+          != other.getTimeoutMs()) return false;
+      if (getPollPeriodMs()
+          != other.getPollPeriodMs()) return false;
+      if (java.lang.Double.doubleToLongBits(getPositionToleranceRad())
+          != java.lang.Double.doubleToLongBits(
+              other.getPositionToleranceRad())) return false;
+      if (java.lang.Double.doubleToLongBits(getVelocityToleranceRadS())
+          != java.lang.Double.doubleToLongBits(
+              other.getVelocityToleranceRadS())) return false;
+      if (getSettleSampleCount()
+          != other.getSettleSampleCount()) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (37 * hash) + TIMEOUT_MS_FIELD_NUMBER;
+      hash = (53 * hash) + getTimeoutMs();
+      hash = (37 * hash) + POLL_PERIOD_MS_FIELD_NUMBER;
+      hash = (53 * hash) + getPollPeriodMs();
+      hash = (37 * hash) + POSITION_TOLERANCE_RAD_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          java.lang.Double.doubleToLongBits(getPositionToleranceRad()));
+      hash = (37 * hash) + VELOCITY_TOLERANCE_RAD_S_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          java.lang.Double.doubleToLongBits(getVelocityToleranceRadS()));
+      hash = (37 * hash) + SETTLE_SAMPLE_COUNT_FIELD_NUMBER;
+      hash = (53 * hash) + getSettleSampleCount();
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.MotorCommand.MotorWaitOptions parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MotorWaitOptions parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorWaitOptions parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MotorWaitOptions parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorWaitOptions parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MotorWaitOptions parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorWaitOptions parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MotorWaitOptions parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorWaitOptions parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MotorWaitOptions parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorWaitOptions parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MotorWaitOptions parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.MotorWaitOptions prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.MotorWaitOptions}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.MotorWaitOptions)
+        cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorWaitOptions_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorWaitOptions_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.MotorWaitOptions.class, cmvr.api.MotorCommand.MotorWaitOptions.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.MotorWaitOptions.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        timeoutMs_ = 0;
+
+        pollPeriodMs_ = 0;
+
+        positionToleranceRad_ = 0D;
+
+        velocityToleranceRadS_ = 0D;
+
+        settleSampleCount_ = 0;
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorWaitOptions_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorWaitOptions getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.MotorWaitOptions.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorWaitOptions build() {
+        cmvr.api.MotorCommand.MotorWaitOptions result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorWaitOptions buildPartial() {
+        cmvr.api.MotorCommand.MotorWaitOptions result = new cmvr.api.MotorCommand.MotorWaitOptions(this);
+        result.timeoutMs_ = timeoutMs_;
+        result.pollPeriodMs_ = pollPeriodMs_;
+        result.positionToleranceRad_ = positionToleranceRad_;
+        result.velocityToleranceRadS_ = velocityToleranceRadS_;
+        result.settleSampleCount_ = settleSampleCount_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.MotorWaitOptions) {
+          return mergeFrom((cmvr.api.MotorCommand.MotorWaitOptions)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.MotorWaitOptions other) {
+        if (other == cmvr.api.MotorCommand.MotorWaitOptions.getDefaultInstance()) return this;
+        if (other.getTimeoutMs() != 0) {
+          setTimeoutMs(other.getTimeoutMs());
+        }
+        if (other.getPollPeriodMs() != 0) {
+          setPollPeriodMs(other.getPollPeriodMs());
+        }
+        if (other.getPositionToleranceRad() != 0D) {
+          setPositionToleranceRad(other.getPositionToleranceRad());
+        }
+        if (other.getVelocityToleranceRadS() != 0D) {
+          setVelocityToleranceRadS(other.getVelocityToleranceRadS());
+        }
+        if (other.getSettleSampleCount() != 0) {
+          setSettleSampleCount(other.getSettleSampleCount());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 8: {
+                timeoutMs_ = input.readUInt32();
+
+                break;
+              } // case 8
+              case 16: {
+                pollPeriodMs_ = input.readUInt32();
+
+                break;
+              } // case 16
+              case 25: {
+                positionToleranceRad_ = input.readDouble();
+
+                break;
+              } // case 25
+              case 33: {
+                velocityToleranceRadS_ = input.readDouble();
+
+                break;
+              } // case 33
+              case 40: {
+                settleSampleCount_ = input.readUInt32();
+
+                break;
+              } // case 40
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private int timeoutMs_ ;
+      /**
+       * 
+       * Zero selects the server default (30 seconds).
+       * 

+       *
+       * uint32 timeout_ms = 1;
+       * @return The timeoutMs.
+       */
+      @java.lang.Override
+      public int getTimeoutMs() {
+        return timeoutMs_;
+      }
+      /**
+       * 
+       * Zero selects the server default (30 seconds).
+       * 

+       *
+       * uint32 timeout_ms = 1;
+       * @param value The timeoutMs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTimeoutMs(int value) {
+        
+        timeoutMs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * Zero selects the server default (30 seconds).
+       * 

+       *
+       * uint32 timeout_ms = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearTimeoutMs() {
+        
+        timeoutMs_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int pollPeriodMs_ ;
+      /**
+       * 
+       * Zero selects the server default (10 milliseconds).
+       * 

+       *
+       * uint32 poll_period_ms = 2;
+       * @return The pollPeriodMs.
+       */
+      @java.lang.Override
+      public int getPollPeriodMs() {
+        return pollPeriodMs_;
+      }
+      /**
+       * 
+       * Zero selects the server default (10 milliseconds).
+       * 

+       *
+       * uint32 poll_period_ms = 2;
+       * @param value The pollPeriodMs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPollPeriodMs(int value) {
+        
+        pollPeriodMs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * Zero selects the server default (10 milliseconds).
+       * 

+       *
+       * uint32 poll_period_ms = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearPollPeriodMs() {
+        
+        pollPeriodMs_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private double positionToleranceRad_ ;
+      /**
+       * 
+       * Zero selects the server default.
+       * 

+       *
+       * double position_tolerance_rad = 3;
+       * @return The positionToleranceRad.
+       */
+      @java.lang.Override
+      public double getPositionToleranceRad() {
+        return positionToleranceRad_;
+      }
+      /**
+       * 
+       * Zero selects the server default.
+       * 

+       *
+       * double position_tolerance_rad = 3;
+       * @param value The positionToleranceRad to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPositionToleranceRad(double value) {
+        
+        positionToleranceRad_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * Zero selects the server default.
+       * 

+       *
+       * double position_tolerance_rad = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearPositionToleranceRad() {
+        
+        positionToleranceRad_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double velocityToleranceRadS_ ;
+      /**
+       * double velocity_tolerance_rad_s = 4;
+       * @return The velocityToleranceRadS.
+       */
+      @java.lang.Override
+      public double getVelocityToleranceRadS() {
+        return velocityToleranceRadS_;
+      }
+      /**
+       * double velocity_tolerance_rad_s = 4;
+       * @param value The velocityToleranceRadS to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVelocityToleranceRadS(double value) {
+        
+        velocityToleranceRadS_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * double velocity_tolerance_rad_s = 4;
+       * @return This builder for chaining.
+       */
+      public Builder clearVelocityToleranceRadS() {
+        
+        velocityToleranceRadS_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private int settleSampleCount_ ;
+      /**
+       * 
+       * Number of consecutive in-tolerance samples. Zero selects the default (3).
+       * 

+       *
+       * uint32 settle_sample_count = 5;
+       * @return The settleSampleCount.
+       */
+      @java.lang.Override
+      public int getSettleSampleCount() {
+        return settleSampleCount_;
+      }
+      /**
+       * 
+       * Number of consecutive in-tolerance samples. Zero selects the default (3).
+       * 

+       *
+       * uint32 settle_sample_count = 5;
+       * @param value The settleSampleCount to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSettleSampleCount(int value) {
+        
+        settleSampleCount_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * Number of consecutive in-tolerance samples. Zero selects the default (3).
+       * 

+       *
+       * uint32 settle_sample_count = 5;
+       * @return This builder for chaining.
+       */
+      public Builder clearSettleSampleCount() {
+        
+        settleSampleCount_ = 0;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.MotorWaitOptions)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.MotorWaitOptions)
+    private static final cmvr.api.MotorCommand.MotorWaitOptions DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.MotorWaitOptions();
+    }
+
+    public static cmvr.api.MotorCommand.MotorWaitOptions getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public MotorWaitOptions parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorWaitOptions getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface MotorStatusOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.MotorStatus)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * uint32 motor_id = 1;
+     * @return The motorId.
+     */
+    int getMotorId();
+
+    /**
+     * string joint_name = 2;
+     * @return The jointName.
+     */
+    java.lang.String getJointName();
+    /**
+     * string joint_name = 2;
+     * @return The bytes for jointName.
+     */
+    com.google.protobuf.ByteString
+        getJointNameBytes();
+
+    /**
+     * .cmvr.msgs.RunMode run_mode = 3;
+     * @return The enum numeric value on the wire for runMode.
+     */
+    int getRunModeValue();
+    /**
+     * .cmvr.msgs.RunMode run_mode = 3;
+     * @return The runMode.
+     */
+    cmvr.msgs.Motor.RunMode getRunMode();
+
+    /**
+     * double position_rad = 4;
+     * @return The positionRad.
+     */
+    double getPositionRad();
+
+    /**
+     * double velocity_rad_s = 5;
+     * @return The velocityRadS.
+     */
+    double getVelocityRadS();
+
+    /**
+     * bool target_reached = 6;
+     * @return The targetReached.
+     */
+    boolean getTargetReached();
+
+    /**
+     * bool service_busy = 7;
+     * @return The serviceBusy.
+     */
+    boolean getServiceBusy();
+
+    /**
+     * .cmvr.api.MotorControlType active_control = 8;
+     * @return The enum numeric value on the wire for activeControl.
+     */
+    int getActiveControlValue();
+    /**
+     * .cmvr.api.MotorControlType active_control = 8;
+     * @return The activeControl.
+     */
+    cmvr.api.MotorCommand.MotorControlType getActiveControl();
+
+    /**
+     * bool emergency_stopped = 9;
+     * @return The emergencyStopped.
+     */
+    boolean getEmergencyStopped();
+
+    /**
+     * string last_error = 10;
+     * @return The lastError.
+     */
+    java.lang.String getLastError();
+    /**
+     * string last_error = 10;
+     * @return The bytes for lastError.
+     */
+    com.google.protobuf.ByteString
+        getLastErrorBytes();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.MotorStatus}
+   */
+  public static final class MotorStatus extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.MotorStatus)
+      MotorStatusOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use MotorStatus.newBuilder() to construct.
+    private MotorStatus(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private MotorStatus() {
+      jointName_ = "";
+      runMode_ = 0;
+      activeControl_ = 0;
+      lastError_ = "";
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new MotorStatus();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorStatus_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorStatus_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.MotorCommand.MotorStatus.class, cmvr.api.MotorCommand.MotorStatus.Builder.class);
+    }
+
+    public static final int MOTOR_ID_FIELD_NUMBER = 1;
+    private int motorId_;
+    /**
+     * uint32 motor_id = 1;
+     * @return The motorId.
+     */
+    @java.lang.Override
+    public int getMotorId() {
+      return motorId_;
+    }
+
+    public static final int JOINT_NAME_FIELD_NUMBER = 2;
+    private volatile java.lang.Object jointName_;
+    /**
+     * string joint_name = 2;
+     * @return The jointName.
+     */
+    @java.lang.Override
+    public java.lang.String getJointName() {
+      java.lang.Object ref = jointName_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        jointName_ = s;
+        return s;
+      }
+    }
+    /**
+     * string joint_name = 2;
+     * @return The bytes for jointName.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getJointNameBytes() {
+      java.lang.Object ref = jointName_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        jointName_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int RUN_MODE_FIELD_NUMBER = 3;
+    private int runMode_;
+    /**
+     * .cmvr.msgs.RunMode run_mode = 3;
+     * @return The enum numeric value on the wire for runMode.
+     */
+    @java.lang.Override public int getRunModeValue() {
+      return runMode_;
+    }
+    /**
+     * .cmvr.msgs.RunMode run_mode = 3;
+     * @return The runMode.
+     */
+    @java.lang.Override public cmvr.msgs.Motor.RunMode getRunMode() {
+      @SuppressWarnings("deprecation")
+      cmvr.msgs.Motor.RunMode result = cmvr.msgs.Motor.RunMode.valueOf(runMode_);
+      return result == null ? cmvr.msgs.Motor.RunMode.UNRECOGNIZED : result;
+    }
+
+    public static final int POSITION_RAD_FIELD_NUMBER = 4;
+    private double positionRad_;
+    /**
+     * double position_rad = 4;
+     * @return The positionRad.
+     */
+    @java.lang.Override
+    public double getPositionRad() {
+      return positionRad_;
+    }
+
+    public static final int VELOCITY_RAD_S_FIELD_NUMBER = 5;
+    private double velocityRadS_;
+    /**
+     * double velocity_rad_s = 5;
+     * @return The velocityRadS.
+     */
+    @java.lang.Override
+    public double getVelocityRadS() {
+      return velocityRadS_;
+    }
+
+    public static final int TARGET_REACHED_FIELD_NUMBER = 6;
+    private boolean targetReached_;
+    /**
+     * bool target_reached = 6;
+     * @return The targetReached.
+     */
+    @java.lang.Override
+    public boolean getTargetReached() {
+      return targetReached_;
+    }
+
+    public static final int SERVICE_BUSY_FIELD_NUMBER = 7;
+    private boolean serviceBusy_;
+    /**
+     * bool service_busy = 7;
+     * @return The serviceBusy.
+     */
+    @java.lang.Override
+    public boolean getServiceBusy() {
+      return serviceBusy_;
+    }
+
+    public static final int ACTIVE_CONTROL_FIELD_NUMBER = 8;
+    private int activeControl_;
+    /**
+     * .cmvr.api.MotorControlType active_control = 8;
+     * @return The enum numeric value on the wire for activeControl.
+     */
+    @java.lang.Override public int getActiveControlValue() {
+      return activeControl_;
+    }
+    /**
+     * .cmvr.api.MotorControlType active_control = 8;
+     * @return The activeControl.
+     */
+    @java.lang.Override public cmvr.api.MotorCommand.MotorControlType getActiveControl() {
+      @SuppressWarnings("deprecation")
+      cmvr.api.MotorCommand.MotorControlType result = cmvr.api.MotorCommand.MotorControlType.valueOf(activeControl_);
+      return result == null ? cmvr.api.MotorCommand.MotorControlType.UNRECOGNIZED : result;
+    }
+
+    public static final int EMERGENCY_STOPPED_FIELD_NUMBER = 9;
+    private boolean emergencyStopped_;
+    /**
+     * bool emergency_stopped = 9;
+     * @return The emergencyStopped.
+     */
+    @java.lang.Override
+    public boolean getEmergencyStopped() {
+      return emergencyStopped_;
+    }
+
+    public static final int LAST_ERROR_FIELD_NUMBER = 10;
+    private volatile java.lang.Object lastError_;
+    /**
+     * string last_error = 10;
+     * @return The lastError.
+     */
+    @java.lang.Override
+    public java.lang.String getLastError() {
+      java.lang.Object ref = lastError_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        lastError_ = s;
+        return s;
+      }
+    }
+    /**
+     * string last_error = 10;
+     * @return The bytes for lastError.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getLastErrorBytes() {
+      java.lang.Object ref = lastError_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        lastError_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (motorId_ != 0) {
+        output.writeUInt32(1, motorId_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(jointName_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 2, jointName_);
+      }
+      if (runMode_ != cmvr.msgs.Motor.RunMode.RUN_MODE_UNSPECIFIED.getNumber()) {
+        output.writeEnum(3, runMode_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(positionRad_) != 0) {
+        output.writeDouble(4, positionRad_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(velocityRadS_) != 0) {
+        output.writeDouble(5, velocityRadS_);
+      }
+      if (targetReached_ != false) {
+        output.writeBool(6, targetReached_);
+      }
+      if (serviceBusy_ != false) {
+        output.writeBool(7, serviceBusy_);
+      }
+      if (activeControl_ != cmvr.api.MotorCommand.MotorControlType.MOTOR_CONTROL_NONE.getNumber()) {
+        output.writeEnum(8, activeControl_);
+      }
+      if (emergencyStopped_ != false) {
+        output.writeBool(9, emergencyStopped_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(lastError_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 10, lastError_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (motorId_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(1, motorId_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(jointName_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, jointName_);
+      }
+      if (runMode_ != cmvr.msgs.Motor.RunMode.RUN_MODE_UNSPECIFIED.getNumber()) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeEnumSize(3, runMode_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(positionRad_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(4, positionRad_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(velocityRadS_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(5, velocityRadS_);
+      }
+      if (targetReached_ != false) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(6, targetReached_);
+      }
+      if (serviceBusy_ != false) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(7, serviceBusy_);
+      }
+      if (activeControl_ != cmvr.api.MotorCommand.MotorControlType.MOTOR_CONTROL_NONE.getNumber()) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeEnumSize(8, activeControl_);
+      }
+      if (emergencyStopped_ != false) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(9, emergencyStopped_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(lastError_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(10, lastError_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.MotorStatus)) {
+        return super.equals(obj);
+      }
+      cmvr.api.MotorCommand.MotorStatus other = (cmvr.api.MotorCommand.MotorStatus) obj;
+
+      if (getMotorId()
+          != other.getMotorId()) return false;
+      if (!getJointName()
+          .equals(other.getJointName())) return false;
+      if (runMode_ != other.runMode_) return false;
+      if (java.lang.Double.doubleToLongBits(getPositionRad())
+          != java.lang.Double.doubleToLongBits(
+              other.getPositionRad())) return false;
+      if (java.lang.Double.doubleToLongBits(getVelocityRadS())
+          != java.lang.Double.doubleToLongBits(
+              other.getVelocityRadS())) return false;
+      if (getTargetReached()
+          != other.getTargetReached()) return false;
+      if (getServiceBusy()
+          != other.getServiceBusy()) return false;
+      if (activeControl_ != other.activeControl_) return false;
+      if (getEmergencyStopped()
+          != other.getEmergencyStopped()) return false;
+      if (!getLastError()
+          .equals(other.getLastError())) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (37 * hash) + MOTOR_ID_FIELD_NUMBER;
+      hash = (53 * hash) + getMotorId();
+      hash = (37 * hash) + JOINT_NAME_FIELD_NUMBER;
+      hash = (53 * hash) + getJointName().hashCode();
+      hash = (37 * hash) + RUN_MODE_FIELD_NUMBER;
+      hash = (53 * hash) + runMode_;
+      hash = (37 * hash) + POSITION_RAD_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          java.lang.Double.doubleToLongBits(getPositionRad()));
+      hash = (37 * hash) + VELOCITY_RAD_S_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          java.lang.Double.doubleToLongBits(getVelocityRadS()));
+      hash = (37 * hash) + TARGET_REACHED_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+          getTargetReached());
+      hash = (37 * hash) + SERVICE_BUSY_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+          getServiceBusy());
+      hash = (37 * hash) + ACTIVE_CONTROL_FIELD_NUMBER;
+      hash = (53 * hash) + activeControl_;
+      hash = (37 * hash) + EMERGENCY_STOPPED_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+          getEmergencyStopped());
+      hash = (37 * hash) + LAST_ERROR_FIELD_NUMBER;
+      hash = (53 * hash) + getLastError().hashCode();
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.MotorCommand.MotorStatus parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MotorStatus parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorStatus parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MotorStatus parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorStatus parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MotorStatus parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorStatus parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MotorStatus parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorStatus parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MotorStatus parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorStatus parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MotorStatus parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.MotorStatus prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.MotorStatus}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.MotorStatus)
+        cmvr.api.MotorCommand.MotorStatusOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorStatus_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorStatus_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.MotorStatus.class, cmvr.api.MotorCommand.MotorStatus.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.MotorStatus.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        motorId_ = 0;
+
+        jointName_ = "";
+
+        runMode_ = 0;
+
+        positionRad_ = 0D;
+
+        velocityRadS_ = 0D;
+
+        targetReached_ = false;
+
+        serviceBusy_ = false;
+
+        activeControl_ = 0;
+
+        emergencyStopped_ = false;
+
+        lastError_ = "";
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorStatus_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorStatus getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.MotorStatus.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorStatus build() {
+        cmvr.api.MotorCommand.MotorStatus result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorStatus buildPartial() {
+        cmvr.api.MotorCommand.MotorStatus result = new cmvr.api.MotorCommand.MotorStatus(this);
+        result.motorId_ = motorId_;
+        result.jointName_ = jointName_;
+        result.runMode_ = runMode_;
+        result.positionRad_ = positionRad_;
+        result.velocityRadS_ = velocityRadS_;
+        result.targetReached_ = targetReached_;
+        result.serviceBusy_ = serviceBusy_;
+        result.activeControl_ = activeControl_;
+        result.emergencyStopped_ = emergencyStopped_;
+        result.lastError_ = lastError_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.MotorStatus) {
+          return mergeFrom((cmvr.api.MotorCommand.MotorStatus)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.MotorStatus other) {
+        if (other == cmvr.api.MotorCommand.MotorStatus.getDefaultInstance()) return this;
+        if (other.getMotorId() != 0) {
+          setMotorId(other.getMotorId());
+        }
+        if (!other.getJointName().isEmpty()) {
+          jointName_ = other.jointName_;
+          onChanged();
+        }
+        if (other.runMode_ != 0) {
+          setRunModeValue(other.getRunModeValue());
+        }
+        if (other.getPositionRad() != 0D) {
+          setPositionRad(other.getPositionRad());
+        }
+        if (other.getVelocityRadS() != 0D) {
+          setVelocityRadS(other.getVelocityRadS());
+        }
+        if (other.getTargetReached() != false) {
+          setTargetReached(other.getTargetReached());
+        }
+        if (other.getServiceBusy() != false) {
+          setServiceBusy(other.getServiceBusy());
+        }
+        if (other.activeControl_ != 0) {
+          setActiveControlValue(other.getActiveControlValue());
+        }
+        if (other.getEmergencyStopped() != false) {
+          setEmergencyStopped(other.getEmergencyStopped());
+        }
+        if (!other.getLastError().isEmpty()) {
+          lastError_ = other.lastError_;
+          onChanged();
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 8: {
+                motorId_ = input.readUInt32();
+
+                break;
+              } // case 8
+              case 18: {
+                jointName_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 18
+              case 24: {
+                runMode_ = input.readEnum();
+
+                break;
+              } // case 24
+              case 33: {
+                positionRad_ = input.readDouble();
+
+                break;
+              } // case 33
+              case 41: {
+                velocityRadS_ = input.readDouble();
+
+                break;
+              } // case 41
+              case 48: {
+                targetReached_ = input.readBool();
+
+                break;
+              } // case 48
+              case 56: {
+                serviceBusy_ = input.readBool();
+
+                break;
+              } // case 56
+              case 64: {
+                activeControl_ = input.readEnum();
+
+                break;
+              } // case 64
+              case 72: {
+                emergencyStopped_ = input.readBool();
+
+                break;
+              } // case 72
+              case 82: {
+                lastError_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 82
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private int motorId_ ;
+      /**
+       * uint32 motor_id = 1;
+       * @return The motorId.
+       */
+      @java.lang.Override
+      public int getMotorId() {
+        return motorId_;
+      }
+      /**
+       * uint32 motor_id = 1;
+       * @param value The motorId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMotorId(int value) {
+        
+        motorId_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint32 motor_id = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearMotorId() {
+        
+        motorId_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object jointName_ = "";
+      /**
+       * string joint_name = 2;
+       * @return The jointName.
+       */
+      public java.lang.String getJointName() {
+        java.lang.Object ref = jointName_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          jointName_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string joint_name = 2;
+       * @return The bytes for jointName.
+       */
+      public com.google.protobuf.ByteString
+          getJointNameBytes() {
+        java.lang.Object ref = jointName_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          jointName_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string joint_name = 2;
+       * @param value The jointName to set.
+       * @return This builder for chaining.
+       */
+      public Builder setJointName(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        jointName_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string joint_name = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearJointName() {
+        
+        jointName_ = getDefaultInstance().getJointName();
+        onChanged();
+        return this;
+      }
+      /**
+       * string joint_name = 2;
+       * @param value The bytes for jointName to set.
+       * @return This builder for chaining.
+       */
+      public Builder setJointNameBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        jointName_ = value;
+        onChanged();
+        return this;
+      }
+
+      private int runMode_ = 0;
+      /**
+       * .cmvr.msgs.RunMode run_mode = 3;
+       * @return The enum numeric value on the wire for runMode.
+       */
+      @java.lang.Override public int getRunModeValue() {
+        return runMode_;
+      }
+      /**
+       * .cmvr.msgs.RunMode run_mode = 3;
+       * @param value The enum numeric value on the wire for runMode to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRunModeValue(int value) {
+        
+        runMode_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.msgs.RunMode run_mode = 3;
+       * @return The runMode.
+       */
+      @java.lang.Override
+      public cmvr.msgs.Motor.RunMode getRunMode() {
+        @SuppressWarnings("deprecation")
+        cmvr.msgs.Motor.RunMode result = cmvr.msgs.Motor.RunMode.valueOf(runMode_);
+        return result == null ? cmvr.msgs.Motor.RunMode.UNRECOGNIZED : result;
+      }
+      /**
+       * .cmvr.msgs.RunMode run_mode = 3;
+       * @param value The runMode to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRunMode(cmvr.msgs.Motor.RunMode value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        
+        runMode_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.msgs.RunMode run_mode = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearRunMode() {
+        
+        runMode_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private double positionRad_ ;
+      /**
+       * double position_rad = 4;
+       * @return The positionRad.
+       */
+      @java.lang.Override
+      public double getPositionRad() {
+        return positionRad_;
+      }
+      /**
+       * double position_rad = 4;
+       * @param value The positionRad to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPositionRad(double value) {
+        
+        positionRad_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * double position_rad = 4;
+       * @return This builder for chaining.
+       */
+      public Builder clearPositionRad() {
+        
+        positionRad_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double velocityRadS_ ;
+      /**
+       * double velocity_rad_s = 5;
+       * @return The velocityRadS.
+       */
+      @java.lang.Override
+      public double getVelocityRadS() {
+        return velocityRadS_;
+      }
+      /**
+       * double velocity_rad_s = 5;
+       * @param value The velocityRadS to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVelocityRadS(double value) {
+        
+        velocityRadS_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * double velocity_rad_s = 5;
+       * @return This builder for chaining.
+       */
+      public Builder clearVelocityRadS() {
+        
+        velocityRadS_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private boolean targetReached_ ;
+      /**
+       * bool target_reached = 6;
+       * @return The targetReached.
+       */
+      @java.lang.Override
+      public boolean getTargetReached() {
+        return targetReached_;
+      }
+      /**
+       * bool target_reached = 6;
+       * @param value The targetReached to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTargetReached(boolean value) {
+        
+        targetReached_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool target_reached = 6;
+       * @return This builder for chaining.
+       */
+      public Builder clearTargetReached() {
+        
+        targetReached_ = false;
+        onChanged();
+        return this;
+      }
+
+      private boolean serviceBusy_ ;
+      /**
+       * bool service_busy = 7;
+       * @return The serviceBusy.
+       */
+      @java.lang.Override
+      public boolean getServiceBusy() {
+        return serviceBusy_;
+      }
+      /**
+       * bool service_busy = 7;
+       * @param value The serviceBusy to set.
+       * @return This builder for chaining.
+       */
+      public Builder setServiceBusy(boolean value) {
+        
+        serviceBusy_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool service_busy = 7;
+       * @return This builder for chaining.
+       */
+      public Builder clearServiceBusy() {
+        
+        serviceBusy_ = false;
+        onChanged();
+        return this;
+      }
+
+      private int activeControl_ = 0;
+      /**
+       * .cmvr.api.MotorControlType active_control = 8;
+       * @return The enum numeric value on the wire for activeControl.
+       */
+      @java.lang.Override public int getActiveControlValue() {
+        return activeControl_;
+      }
+      /**
+       * .cmvr.api.MotorControlType active_control = 8;
+       * @param value The enum numeric value on the wire for activeControl to set.
+       * @return This builder for chaining.
+       */
+      public Builder setActiveControlValue(int value) {
+        
+        activeControl_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorControlType active_control = 8;
+       * @return The activeControl.
+       */
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorControlType getActiveControl() {
+        @SuppressWarnings("deprecation")
+        cmvr.api.MotorCommand.MotorControlType result = cmvr.api.MotorCommand.MotorControlType.valueOf(activeControl_);
+        return result == null ? cmvr.api.MotorCommand.MotorControlType.UNRECOGNIZED : result;
+      }
+      /**
+       * .cmvr.api.MotorControlType active_control = 8;
+       * @param value The activeControl to set.
+       * @return This builder for chaining.
+       */
+      public Builder setActiveControl(cmvr.api.MotorCommand.MotorControlType value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        
+        activeControl_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorControlType active_control = 8;
+       * @return This builder for chaining.
+       */
+      public Builder clearActiveControl() {
+        
+        activeControl_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private boolean emergencyStopped_ ;
+      /**
+       * bool emergency_stopped = 9;
+       * @return The emergencyStopped.
+       */
+      @java.lang.Override
+      public boolean getEmergencyStopped() {
+        return emergencyStopped_;
+      }
+      /**
+       * bool emergency_stopped = 9;
+       * @param value The emergencyStopped to set.
+       * @return This builder for chaining.
+       */
+      public Builder setEmergencyStopped(boolean value) {
+        
+        emergencyStopped_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool emergency_stopped = 9;
+       * @return This builder for chaining.
+       */
+      public Builder clearEmergencyStopped() {
+        
+        emergencyStopped_ = false;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object lastError_ = "";
+      /**
+       * string last_error = 10;
+       * @return The lastError.
+       */
+      public java.lang.String getLastError() {
+        java.lang.Object ref = lastError_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          lastError_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string last_error = 10;
+       * @return The bytes for lastError.
+       */
+      public com.google.protobuf.ByteString
+          getLastErrorBytes() {
+        java.lang.Object ref = lastError_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          lastError_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string last_error = 10;
+       * @param value The lastError to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLastError(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        lastError_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string last_error = 10;
+       * @return This builder for chaining.
+       */
+      public Builder clearLastError() {
+        
+        lastError_ = getDefaultInstance().getLastError();
+        onChanged();
+        return this;
+      }
+      /**
+       * string last_error = 10;
+       * @param value The bytes for lastError to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLastErrorBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        lastError_ = value;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.MotorStatus)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.MotorStatus)
+    private static final cmvr.api.MotorCommand.MotorStatus DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.MotorStatus();
+    }
+
+    public static cmvr.api.MotorCommand.MotorStatus getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public MotorStatus parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorStatus getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface MotorCommandResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.MotorCommandResponse)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     * @return Whether the header field is set.
+     */
+    boolean hasHeader();
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     * @return The header.
+     */
+    cmvr.api.Common.CommandHeader.Feedback getHeader();
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     */
+    cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
+
+    /**
+     * .cmvr.api.MotorStatus status = 2;
+     * @return Whether the status field is set.
+     */
+    boolean hasStatus();
+    /**
+     * .cmvr.api.MotorStatus status = 2;
+     * @return The status.
+     */
+    cmvr.api.MotorCommand.MotorStatus getStatus();
+    /**
+     * .cmvr.api.MotorStatus status = 2;
+     */
+    cmvr.api.MotorCommand.MotorStatusOrBuilder getStatusOrBuilder();
+
+    /**
+     * uint64 elapsed_ms = 3;
+     * @return The elapsedMs.
+     */
+    long getElapsedMs();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.MotorCommandResponse}
+   */
+  public static final class MotorCommandResponse extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.MotorCommandResponse)
+      MotorCommandResponseOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use MotorCommandResponse.newBuilder() to construct.
+    private MotorCommandResponse(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private MotorCommandResponse() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new MotorCommandResponse();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorCommandResponse_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorCommandResponse_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.MotorCommand.MotorCommandResponse.class, cmvr.api.MotorCommand.MotorCommandResponse.Builder.class);
+    }
+
+    public static final int HEADER_FIELD_NUMBER = 1;
+    private cmvr.api.Common.CommandHeader.Feedback header_;
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     * @return Whether the header field is set.
+     */
+    @java.lang.Override
+    public boolean hasHeader() {
+      return header_ != null;
+    }
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     * @return The header.
+     */
+    @java.lang.Override
+    public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+      return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+    }
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     */
+    @java.lang.Override
+    public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+      return getHeader();
+    }
+
+    public static final int STATUS_FIELD_NUMBER = 2;
+    private cmvr.api.MotorCommand.MotorStatus status_;
+    /**
+     * .cmvr.api.MotorStatus status = 2;
+     * @return Whether the status field is set.
+     */
+    @java.lang.Override
+    public boolean hasStatus() {
+      return status_ != null;
+    }
+    /**
+     * .cmvr.api.MotorStatus status = 2;
+     * @return The status.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorStatus getStatus() {
+      return status_ == null ? cmvr.api.MotorCommand.MotorStatus.getDefaultInstance() : status_;
+    }
+    /**
+     * .cmvr.api.MotorStatus status = 2;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorStatusOrBuilder getStatusOrBuilder() {
+      return getStatus();
+    }
+
+    public static final int ELAPSED_MS_FIELD_NUMBER = 3;
+    private long elapsedMs_;
+    /**
+     * uint64 elapsed_ms = 3;
+     * @return The elapsedMs.
+     */
+    @java.lang.Override
+    public long getElapsedMs() {
+      return elapsedMs_;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (header_ != null) {
+        output.writeMessage(1, getHeader());
+      }
+      if (status_ != null) {
+        output.writeMessage(2, getStatus());
+      }
+      if (elapsedMs_ != 0L) {
+        output.writeUInt64(3, elapsedMs_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (header_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(1, getHeader());
+      }
+      if (status_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(2, getStatus());
+      }
+      if (elapsedMs_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt64Size(3, elapsedMs_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.MotorCommandResponse)) {
+        return super.equals(obj);
+      }
+      cmvr.api.MotorCommand.MotorCommandResponse other = (cmvr.api.MotorCommand.MotorCommandResponse) obj;
+
+      if (hasHeader() != other.hasHeader()) return false;
+      if (hasHeader()) {
+        if (!getHeader()
+            .equals(other.getHeader())) return false;
+      }
+      if (hasStatus() != other.hasStatus()) return false;
+      if (hasStatus()) {
+        if (!getStatus()
+            .equals(other.getStatus())) return false;
+      }
+      if (getElapsedMs()
+          != other.getElapsedMs()) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasHeader()) {
+        hash = (37 * hash) + HEADER_FIELD_NUMBER;
+        hash = (53 * hash) + getHeader().hashCode();
+      }
+      if (hasStatus()) {
+        hash = (37 * hash) + STATUS_FIELD_NUMBER;
+        hash = (53 * hash) + getStatus().hashCode();
+      }
+      hash = (37 * hash) + ELAPSED_MS_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          getElapsedMs());
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.MotorCommand.MotorCommandResponse parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MotorCommandResponse parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorCommandResponse parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MotorCommandResponse parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorCommandResponse parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MotorCommandResponse parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorCommandResponse parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MotorCommandResponse parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorCommandResponse parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MotorCommandResponse parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MotorCommandResponse parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MotorCommandResponse parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.MotorCommandResponse prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.MotorCommandResponse}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.MotorCommandResponse)
+        cmvr.api.MotorCommand.MotorCommandResponseOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorCommandResponse_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorCommandResponse_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.MotorCommandResponse.class, cmvr.api.MotorCommand.MotorCommandResponse.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.MotorCommandResponse.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (headerBuilder_ == null) {
+          header_ = null;
+        } else {
+          header_ = null;
+          headerBuilder_ = null;
+        }
+        if (statusBuilder_ == null) {
+          status_ = null;
+        } else {
+          status_ = null;
+          statusBuilder_ = null;
+        }
+        elapsedMs_ = 0L;
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MotorCommandResponse_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorCommandResponse getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorCommandResponse build() {
+        cmvr.api.MotorCommand.MotorCommandResponse result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MotorCommandResponse buildPartial() {
+        cmvr.api.MotorCommand.MotorCommandResponse result = new cmvr.api.MotorCommand.MotorCommandResponse(this);
+        if (headerBuilder_ == null) {
+          result.header_ = header_;
+        } else {
+          result.header_ = headerBuilder_.build();
+        }
+        if (statusBuilder_ == null) {
+          result.status_ = status_;
+        } else {
+          result.status_ = statusBuilder_.build();
+        }
+        result.elapsedMs_ = elapsedMs_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.MotorCommandResponse) {
+          return mergeFrom((cmvr.api.MotorCommand.MotorCommandResponse)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.MotorCommandResponse other) {
+        if (other == cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()) return this;
+        if (other.hasHeader()) {
+          mergeHeader(other.getHeader());
+        }
+        if (other.hasStatus()) {
+          mergeStatus(other.getStatus());
+        }
+        if (other.getElapsedMs() != 0L) {
+          setElapsedMs(other.getElapsedMs());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
+                    getHeaderFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 10
+              case 18: {
+                input.readMessage(
+                    getStatusFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 18
+              case 24: {
+                elapsedMs_ = input.readUInt64();
+
+                break;
+              } // case 24
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private cmvr.api.Common.CommandHeader.Feedback header_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> headerBuilder_;
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       * @return Whether the header field is set.
+       */
+      public boolean hasHeader() {
+        return headerBuilder_ != null || header_ != null;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       * @return The header.
+       */
+      public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+        if (headerBuilder_ == null) {
+          return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+        } else {
+          return headerBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+        if (headerBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          header_ = value;
+          onChanged();
+        } else {
+          headerBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public Builder setHeader(
+          cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
+        if (headerBuilder_ == null) {
+          header_ = builderForValue.build();
+          onChanged();
+        } else {
+          headerBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+        if (headerBuilder_ == null) {
+          if (header_ != null) {
+            header_ =
+              cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
+          } else {
+            header_ = value;
+          }
+          onChanged();
+        } else {
+          headerBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public Builder clearHeader() {
+        if (headerBuilder_ == null) {
+          header_ = null;
+          onChanged();
+        } else {
+          header_ = null;
+          headerBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+        
+        onChanged();
+        return getHeaderFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+        if (headerBuilder_ != null) {
+          return headerBuilder_.getMessageOrBuilder();
+        } else {
+          return header_ == null ?
+              cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+        }
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> 
+          getHeaderFieldBuilder() {
+        if (headerBuilder_ == null) {
+          headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>(
+                  getHeader(),
+                  getParentForChildren(),
+                  isClean());
+          header_ = null;
+        }
+        return headerBuilder_;
+      }
+
+      private cmvr.api.MotorCommand.MotorStatus status_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorStatus, cmvr.api.MotorCommand.MotorStatus.Builder, cmvr.api.MotorCommand.MotorStatusOrBuilder> statusBuilder_;
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       * @return Whether the status field is set.
+       */
+      public boolean hasStatus() {
+        return statusBuilder_ != null || status_ != null;
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       * @return The status.
+       */
+      public cmvr.api.MotorCommand.MotorStatus getStatus() {
+        if (statusBuilder_ == null) {
+          return status_ == null ? cmvr.api.MotorCommand.MotorStatus.getDefaultInstance() : status_;
+        } else {
+          return statusBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      public Builder setStatus(cmvr.api.MotorCommand.MotorStatus value) {
+        if (statusBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          status_ = value;
+          onChanged();
+        } else {
+          statusBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      public Builder setStatus(
+          cmvr.api.MotorCommand.MotorStatus.Builder builderForValue) {
+        if (statusBuilder_ == null) {
+          status_ = builderForValue.build();
+          onChanged();
+        } else {
+          statusBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      public Builder mergeStatus(cmvr.api.MotorCommand.MotorStatus value) {
+        if (statusBuilder_ == null) {
+          if (status_ != null) {
+            status_ =
+              cmvr.api.MotorCommand.MotorStatus.newBuilder(status_).mergeFrom(value).buildPartial();
+          } else {
+            status_ = value;
+          }
+          onChanged();
+        } else {
+          statusBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      public Builder clearStatus() {
+        if (statusBuilder_ == null) {
+          status_ = null;
+          onChanged();
+        } else {
+          status_ = null;
+          statusBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      public cmvr.api.MotorCommand.MotorStatus.Builder getStatusBuilder() {
+        
+        onChanged();
+        return getStatusFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      public cmvr.api.MotorCommand.MotorStatusOrBuilder getStatusOrBuilder() {
+        if (statusBuilder_ != null) {
+          return statusBuilder_.getMessageOrBuilder();
+        } else {
+          return status_ == null ?
+              cmvr.api.MotorCommand.MotorStatus.getDefaultInstance() : status_;
+        }
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorStatus, cmvr.api.MotorCommand.MotorStatus.Builder, cmvr.api.MotorCommand.MotorStatusOrBuilder> 
+          getStatusFieldBuilder() {
+        if (statusBuilder_ == null) {
+          statusBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorStatus, cmvr.api.MotorCommand.MotorStatus.Builder, cmvr.api.MotorCommand.MotorStatusOrBuilder>(
+                  getStatus(),
+                  getParentForChildren(),
+                  isClean());
+          status_ = null;
+        }
+        return statusBuilder_;
+      }
+
+      private long elapsedMs_ ;
+      /**
+       * uint64 elapsed_ms = 3;
+       * @return The elapsedMs.
+       */
+      @java.lang.Override
+      public long getElapsedMs() {
+        return elapsedMs_;
+      }
+      /**
+       * uint64 elapsed_ms = 3;
+       * @param value The elapsedMs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setElapsedMs(long value) {
+        
+        elapsedMs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 elapsed_ms = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearElapsedMs() {
+        
+        elapsedMs_ = 0L;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.MotorCommandResponse)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.MotorCommandResponse)
+    private static final cmvr.api.MotorCommand.MotorCommandResponse DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.MotorCommandResponse();
+    }
+
+    public static cmvr.api.MotorCommand.MotorCommandResponse getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public MotorCommandResponse parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorCommandResponse getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface SetMotorZeroRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.SetMotorZeroRequest)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    boolean hasTarget();
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
+    cmvr.api.MotorCommand.MotorTarget getTarget();
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
+    cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.SetMotorZeroRequest}
+   */
+  public static final class SetMotorZeroRequest extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.SetMotorZeroRequest)
+      SetMotorZeroRequestOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use SetMotorZeroRequest.newBuilder() to construct.
+    private SetMotorZeroRequest(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private SetMotorZeroRequest() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new SetMotorZeroRequest();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_SetMotorZeroRequest_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_SetMotorZeroRequest_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.MotorCommand.SetMotorZeroRequest.class, cmvr.api.MotorCommand.SetMotorZeroRequest.Builder.class);
+    }
+
+    public static final int TARGET_FIELD_NUMBER = 1;
+    private cmvr.api.MotorCommand.MotorTarget target_;
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    @java.lang.Override
+    public boolean hasTarget() {
+      return target_ != null;
+    }
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTarget getTarget() {
+      return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+    }
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+      return getTarget();
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (target_ != null) {
+        output.writeMessage(1, getTarget());
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (target_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(1, getTarget());
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.SetMotorZeroRequest)) {
+        return super.equals(obj);
+      }
+      cmvr.api.MotorCommand.SetMotorZeroRequest other = (cmvr.api.MotorCommand.SetMotorZeroRequest) obj;
+
+      if (hasTarget() != other.hasTarget()) return false;
+      if (hasTarget()) {
+        if (!getTarget()
+            .equals(other.getTarget())) return false;
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasTarget()) {
+        hash = (37 * hash) + TARGET_FIELD_NUMBER;
+        hash = (53 * hash) + getTarget().hashCode();
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.SetMotorZeroRequest prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.SetMotorZeroRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.SetMotorZeroRequest)
+        cmvr.api.MotorCommand.SetMotorZeroRequestOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_SetMotorZeroRequest_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_SetMotorZeroRequest_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.SetMotorZeroRequest.class, cmvr.api.MotorCommand.SetMotorZeroRequest.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.SetMotorZeroRequest.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (targetBuilder_ == null) {
+          target_ = null;
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_SetMotorZeroRequest_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.SetMotorZeroRequest getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.SetMotorZeroRequest.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.SetMotorZeroRequest build() {
+        cmvr.api.MotorCommand.SetMotorZeroRequest result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.SetMotorZeroRequest buildPartial() {
+        cmvr.api.MotorCommand.SetMotorZeroRequest result = new cmvr.api.MotorCommand.SetMotorZeroRequest(this);
+        if (targetBuilder_ == null) {
+          result.target_ = target_;
+        } else {
+          result.target_ = targetBuilder_.build();
+        }
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.SetMotorZeroRequest) {
+          return mergeFrom((cmvr.api.MotorCommand.SetMotorZeroRequest)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.SetMotorZeroRequest other) {
+        if (other == cmvr.api.MotorCommand.SetMotorZeroRequest.getDefaultInstance()) return this;
+        if (other.hasTarget()) {
+          mergeTarget(other.getTarget());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
+                    getTargetFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 10
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private cmvr.api.MotorCommand.MotorTarget target_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> targetBuilder_;
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return Whether the target field is set.
+       */
+      public boolean hasTarget() {
+        return targetBuilder_ != null || target_ != null;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return The target.
+       */
+      public cmvr.api.MotorCommand.MotorTarget getTarget() {
+        if (targetBuilder_ == null) {
+          return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        } else {
+          return targetBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          target_ = value;
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(
+          cmvr.api.MotorCommand.MotorTarget.Builder builderForValue) {
+        if (targetBuilder_ == null) {
+          target_ = builderForValue.build();
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder mergeTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (target_ != null) {
+            target_ =
+              cmvr.api.MotorCommand.MotorTarget.newBuilder(target_).mergeFrom(value).buildPartial();
+          } else {
+            target_ = value;
+          }
+          onChanged();
+        } else {
+          targetBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder clearTarget() {
+        if (targetBuilder_ == null) {
+          target_ = null;
+          onChanged();
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTarget.Builder getTargetBuilder() {
+        
+        onChanged();
+        return getTargetFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+        if (targetBuilder_ != null) {
+          return targetBuilder_.getMessageOrBuilder();
+        } else {
+          return target_ == null ?
+              cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> 
+          getTargetFieldBuilder() {
+        if (targetBuilder_ == null) {
+          targetBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder>(
+                  getTarget(),
+                  getParentForChildren(),
+                  isClean());
+          target_ = null;
+        }
+        return targetBuilder_;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.SetMotorZeroRequest)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.SetMotorZeroRequest)
+    private static final cmvr.api.MotorCommand.SetMotorZeroRequest DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.SetMotorZeroRequest();
+    }
+
+    public static cmvr.api.MotorCommand.SetMotorZeroRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public SetMotorZeroRequest parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.SetMotorZeroRequest getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface MoveMotorToZeroRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.MoveMotorToZeroRequest)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    boolean hasTarget();
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
+    cmvr.api.MotorCommand.MotorTarget getTarget();
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
+    cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder();
+
+    /**
+     * double max_velocity_rad_s = 2;
+     * @return The maxVelocityRadS.
+     */
+    double getMaxVelocityRadS();
+
+    /**
+     * double acceleration_rad_s2 = 3;
+     * @return The accelerationRadS2.
+     */
+    double getAccelerationRadS2();
+
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 4;
+     * @return Whether the wait field is set.
+     */
+    boolean hasWait();
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 4;
+     * @return The wait.
+     */
+    cmvr.api.MotorCommand.MotorWaitOptions getWait();
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 4;
+     */
+    cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder getWaitOrBuilder();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.MoveMotorToZeroRequest}
+   */
+  public static final class MoveMotorToZeroRequest extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.MoveMotorToZeroRequest)
+      MoveMotorToZeroRequestOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use MoveMotorToZeroRequest.newBuilder() to construct.
+    private MoveMotorToZeroRequest(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private MoveMotorToZeroRequest() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new MoveMotorToZeroRequest();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_MoveMotorToZeroRequest_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_MoveMotorToZeroRequest_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.MotorCommand.MoveMotorToZeroRequest.class, cmvr.api.MotorCommand.MoveMotorToZeroRequest.Builder.class);
+    }
+
+    public static final int TARGET_FIELD_NUMBER = 1;
+    private cmvr.api.MotorCommand.MotorTarget target_;
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    @java.lang.Override
+    public boolean hasTarget() {
+      return target_ != null;
+    }
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTarget getTarget() {
+      return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+    }
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+      return getTarget();
+    }
+
+    public static final int MAX_VELOCITY_RAD_S_FIELD_NUMBER = 2;
+    private double maxVelocityRadS_;
+    /**
+     * double max_velocity_rad_s = 2;
+     * @return The maxVelocityRadS.
+     */
+    @java.lang.Override
+    public double getMaxVelocityRadS() {
+      return maxVelocityRadS_;
+    }
+
+    public static final int ACCELERATION_RAD_S2_FIELD_NUMBER = 3;
+    private double accelerationRadS2_;
+    /**
+     * double acceleration_rad_s2 = 3;
+     * @return The accelerationRadS2.
+     */
+    @java.lang.Override
+    public double getAccelerationRadS2() {
+      return accelerationRadS2_;
+    }
+
+    public static final int WAIT_FIELD_NUMBER = 4;
+    private cmvr.api.MotorCommand.MotorWaitOptions wait_;
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 4;
+     * @return Whether the wait field is set.
+     */
+    @java.lang.Override
+    public boolean hasWait() {
+      return wait_ != null;
+    }
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 4;
+     * @return The wait.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorWaitOptions getWait() {
+      return wait_ == null ? cmvr.api.MotorCommand.MotorWaitOptions.getDefaultInstance() : wait_;
+    }
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 4;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder getWaitOrBuilder() {
+      return getWait();
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (target_ != null) {
+        output.writeMessage(1, getTarget());
+      }
+      if (java.lang.Double.doubleToRawLongBits(maxVelocityRadS_) != 0) {
+        output.writeDouble(2, maxVelocityRadS_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(accelerationRadS2_) != 0) {
+        output.writeDouble(3, accelerationRadS2_);
+      }
+      if (wait_ != null) {
+        output.writeMessage(4, getWait());
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (target_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(1, getTarget());
+      }
+      if (java.lang.Double.doubleToRawLongBits(maxVelocityRadS_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(2, maxVelocityRadS_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(accelerationRadS2_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(3, accelerationRadS2_);
+      }
+      if (wait_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(4, getWait());
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.MoveMotorToZeroRequest)) {
+        return super.equals(obj);
+      }
+      cmvr.api.MotorCommand.MoveMotorToZeroRequest other = (cmvr.api.MotorCommand.MoveMotorToZeroRequest) obj;
+
+      if (hasTarget() != other.hasTarget()) return false;
+      if (hasTarget()) {
+        if (!getTarget()
+            .equals(other.getTarget())) return false;
+      }
+      if (java.lang.Double.doubleToLongBits(getMaxVelocityRadS())
+          != java.lang.Double.doubleToLongBits(
+              other.getMaxVelocityRadS())) return false;
+      if (java.lang.Double.doubleToLongBits(getAccelerationRadS2())
+          != java.lang.Double.doubleToLongBits(
+              other.getAccelerationRadS2())) return false;
+      if (hasWait() != other.hasWait()) return false;
+      if (hasWait()) {
+        if (!getWait()
+            .equals(other.getWait())) return false;
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasTarget()) {
+        hash = (37 * hash) + TARGET_FIELD_NUMBER;
+        hash = (53 * hash) + getTarget().hashCode();
+      }
+      hash = (37 * hash) + MAX_VELOCITY_RAD_S_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          java.lang.Double.doubleToLongBits(getMaxVelocityRadS()));
+      hash = (37 * hash) + ACCELERATION_RAD_S2_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          java.lang.Double.doubleToLongBits(getAccelerationRadS2()));
+      if (hasWait()) {
+        hash = (37 * hash) + WAIT_FIELD_NUMBER;
+        hash = (53 * hash) + getWait().hashCode();
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.MoveMotorToZeroRequest prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.MoveMotorToZeroRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.MoveMotorToZeroRequest)
+        cmvr.api.MotorCommand.MoveMotorToZeroRequestOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MoveMotorToZeroRequest_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MoveMotorToZeroRequest_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.MoveMotorToZeroRequest.class, cmvr.api.MotorCommand.MoveMotorToZeroRequest.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.MoveMotorToZeroRequest.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (targetBuilder_ == null) {
+          target_ = null;
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+        maxVelocityRadS_ = 0D;
+
+        accelerationRadS2_ = 0D;
+
+        if (waitBuilder_ == null) {
+          wait_ = null;
+        } else {
+          wait_ = null;
+          waitBuilder_ = null;
+        }
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_MoveMotorToZeroRequest_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MoveMotorToZeroRequest getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.MoveMotorToZeroRequest.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MoveMotorToZeroRequest build() {
+        cmvr.api.MotorCommand.MoveMotorToZeroRequest result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.MoveMotorToZeroRequest buildPartial() {
+        cmvr.api.MotorCommand.MoveMotorToZeroRequest result = new cmvr.api.MotorCommand.MoveMotorToZeroRequest(this);
+        if (targetBuilder_ == null) {
+          result.target_ = target_;
+        } else {
+          result.target_ = targetBuilder_.build();
+        }
+        result.maxVelocityRadS_ = maxVelocityRadS_;
+        result.accelerationRadS2_ = accelerationRadS2_;
+        if (waitBuilder_ == null) {
+          result.wait_ = wait_;
+        } else {
+          result.wait_ = waitBuilder_.build();
+        }
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.MoveMotorToZeroRequest) {
+          return mergeFrom((cmvr.api.MotorCommand.MoveMotorToZeroRequest)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.MoveMotorToZeroRequest other) {
+        if (other == cmvr.api.MotorCommand.MoveMotorToZeroRequest.getDefaultInstance()) return this;
+        if (other.hasTarget()) {
+          mergeTarget(other.getTarget());
+        }
+        if (other.getMaxVelocityRadS() != 0D) {
+          setMaxVelocityRadS(other.getMaxVelocityRadS());
+        }
+        if (other.getAccelerationRadS2() != 0D) {
+          setAccelerationRadS2(other.getAccelerationRadS2());
+        }
+        if (other.hasWait()) {
+          mergeWait(other.getWait());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
+                    getTargetFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 10
+              case 17: {
+                maxVelocityRadS_ = input.readDouble();
+
+                break;
+              } // case 17
+              case 25: {
+                accelerationRadS2_ = input.readDouble();
+
+                break;
+              } // case 25
+              case 34: {
+                input.readMessage(
+                    getWaitFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 34
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private cmvr.api.MotorCommand.MotorTarget target_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> targetBuilder_;
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return Whether the target field is set.
+       */
+      public boolean hasTarget() {
+        return targetBuilder_ != null || target_ != null;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return The target.
+       */
+      public cmvr.api.MotorCommand.MotorTarget getTarget() {
+        if (targetBuilder_ == null) {
+          return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        } else {
+          return targetBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          target_ = value;
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(
+          cmvr.api.MotorCommand.MotorTarget.Builder builderForValue) {
+        if (targetBuilder_ == null) {
+          target_ = builderForValue.build();
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder mergeTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (target_ != null) {
+            target_ =
+              cmvr.api.MotorCommand.MotorTarget.newBuilder(target_).mergeFrom(value).buildPartial();
+          } else {
+            target_ = value;
+          }
+          onChanged();
+        } else {
+          targetBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder clearTarget() {
+        if (targetBuilder_ == null) {
+          target_ = null;
+          onChanged();
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTarget.Builder getTargetBuilder() {
+        
+        onChanged();
+        return getTargetFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+        if (targetBuilder_ != null) {
+          return targetBuilder_.getMessageOrBuilder();
+        } else {
+          return target_ == null ?
+              cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> 
+          getTargetFieldBuilder() {
+        if (targetBuilder_ == null) {
+          targetBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder>(
+                  getTarget(),
+                  getParentForChildren(),
+                  isClean());
+          target_ = null;
+        }
+        return targetBuilder_;
+      }
+
+      private double maxVelocityRadS_ ;
+      /**
+       * double max_velocity_rad_s = 2;
+       * @return The maxVelocityRadS.
+       */
+      @java.lang.Override
+      public double getMaxVelocityRadS() {
+        return maxVelocityRadS_;
+      }
+      /**
+       * double max_velocity_rad_s = 2;
+       * @param value The maxVelocityRadS to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaxVelocityRadS(double value) {
+        
+        maxVelocityRadS_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * double max_velocity_rad_s = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearMaxVelocityRadS() {
+        
+        maxVelocityRadS_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double accelerationRadS2_ ;
+      /**
+       * double acceleration_rad_s2 = 3;
+       * @return The accelerationRadS2.
+       */
+      @java.lang.Override
+      public double getAccelerationRadS2() {
+        return accelerationRadS2_;
+      }
+      /**
+       * double acceleration_rad_s2 = 3;
+       * @param value The accelerationRadS2 to set.
+       * @return This builder for chaining.
+       */
+      public Builder setAccelerationRadS2(double value) {
+        
+        accelerationRadS2_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * double acceleration_rad_s2 = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearAccelerationRadS2() {
+        
+        accelerationRadS2_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private cmvr.api.MotorCommand.MotorWaitOptions wait_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorWaitOptions, cmvr.api.MotorCommand.MotorWaitOptions.Builder, cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder> waitBuilder_;
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       * @return Whether the wait field is set.
+       */
+      public boolean hasWait() {
+        return waitBuilder_ != null || wait_ != null;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       * @return The wait.
+       */
+      public cmvr.api.MotorCommand.MotorWaitOptions getWait() {
+        if (waitBuilder_ == null) {
+          return wait_ == null ? cmvr.api.MotorCommand.MotorWaitOptions.getDefaultInstance() : wait_;
+        } else {
+          return waitBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      public Builder setWait(cmvr.api.MotorCommand.MotorWaitOptions value) {
+        if (waitBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          wait_ = value;
+          onChanged();
+        } else {
+          waitBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      public Builder setWait(
+          cmvr.api.MotorCommand.MotorWaitOptions.Builder builderForValue) {
+        if (waitBuilder_ == null) {
+          wait_ = builderForValue.build();
+          onChanged();
+        } else {
+          waitBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      public Builder mergeWait(cmvr.api.MotorCommand.MotorWaitOptions value) {
+        if (waitBuilder_ == null) {
+          if (wait_ != null) {
+            wait_ =
+              cmvr.api.MotorCommand.MotorWaitOptions.newBuilder(wait_).mergeFrom(value).buildPartial();
+          } else {
+            wait_ = value;
+          }
+          onChanged();
+        } else {
+          waitBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      public Builder clearWait() {
+        if (waitBuilder_ == null) {
+          wait_ = null;
+          onChanged();
+        } else {
+          wait_ = null;
+          waitBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      public cmvr.api.MotorCommand.MotorWaitOptions.Builder getWaitBuilder() {
+        
+        onChanged();
+        return getWaitFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      public cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder getWaitOrBuilder() {
+        if (waitBuilder_ != null) {
+          return waitBuilder_.getMessageOrBuilder();
+        } else {
+          return wait_ == null ?
+              cmvr.api.MotorCommand.MotorWaitOptions.getDefaultInstance() : wait_;
+        }
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorWaitOptions, cmvr.api.MotorCommand.MotorWaitOptions.Builder, cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder> 
+          getWaitFieldBuilder() {
+        if (waitBuilder_ == null) {
+          waitBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorWaitOptions, cmvr.api.MotorCommand.MotorWaitOptions.Builder, cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder>(
+                  getWait(),
+                  getParentForChildren(),
+                  isClean());
+          wait_ = null;
+        }
+        return waitBuilder_;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.MoveMotorToZeroRequest)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.MoveMotorToZeroRequest)
+    private static final cmvr.api.MotorCommand.MoveMotorToZeroRequest DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.MoveMotorToZeroRequest();
+    }
+
+    public static cmvr.api.MotorCommand.MoveMotorToZeroRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public MoveMotorToZeroRequest parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MoveMotorToZeroRequest getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface ProfilePositionRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.ProfilePositionRequest)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    boolean hasTarget();
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
+    cmvr.api.MotorCommand.MotorTarget getTarget();
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
+    cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder();
+
+    /**
+     * double target_position_rad = 2;
+     * @return The targetPositionRad.
+     */
+    double getTargetPositionRad();
+
+    /**
+     * double max_velocity_rad_s = 3;
+     * @return The maxVelocityRadS.
+     */
+    double getMaxVelocityRadS();
+
+    /**
+     * double acceleration_rad_s2 = 4;
+     * @return The accelerationRadS2.
+     */
+    double getAccelerationRadS2();
+
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 5;
+     * @return Whether the wait field is set.
+     */
+    boolean hasWait();
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 5;
+     * @return The wait.
+     */
+    cmvr.api.MotorCommand.MotorWaitOptions getWait();
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 5;
+     */
+    cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder getWaitOrBuilder();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.ProfilePositionRequest}
+   */
+  public static final class ProfilePositionRequest extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.ProfilePositionRequest)
+      ProfilePositionRequestOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use ProfilePositionRequest.newBuilder() to construct.
+    private ProfilePositionRequest(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private ProfilePositionRequest() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new ProfilePositionRequest();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_ProfilePositionRequest_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_ProfilePositionRequest_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.MotorCommand.ProfilePositionRequest.class, cmvr.api.MotorCommand.ProfilePositionRequest.Builder.class);
+    }
+
+    public static final int TARGET_FIELD_NUMBER = 1;
+    private cmvr.api.MotorCommand.MotorTarget target_;
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    @java.lang.Override
+    public boolean hasTarget() {
+      return target_ != null;
+    }
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTarget getTarget() {
+      return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+    }
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+      return getTarget();
+    }
+
+    public static final int TARGET_POSITION_RAD_FIELD_NUMBER = 2;
+    private double targetPositionRad_;
+    /**
+     * double target_position_rad = 2;
+     * @return The targetPositionRad.
+     */
+    @java.lang.Override
+    public double getTargetPositionRad() {
+      return targetPositionRad_;
+    }
+
+    public static final int MAX_VELOCITY_RAD_S_FIELD_NUMBER = 3;
+    private double maxVelocityRadS_;
+    /**
+     * double max_velocity_rad_s = 3;
+     * @return The maxVelocityRadS.
+     */
+    @java.lang.Override
+    public double getMaxVelocityRadS() {
+      return maxVelocityRadS_;
+    }
+
+    public static final int ACCELERATION_RAD_S2_FIELD_NUMBER = 4;
+    private double accelerationRadS2_;
+    /**
+     * double acceleration_rad_s2 = 4;
+     * @return The accelerationRadS2.
+     */
+    @java.lang.Override
+    public double getAccelerationRadS2() {
+      return accelerationRadS2_;
+    }
+
+    public static final int WAIT_FIELD_NUMBER = 5;
+    private cmvr.api.MotorCommand.MotorWaitOptions wait_;
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 5;
+     * @return Whether the wait field is set.
+     */
+    @java.lang.Override
+    public boolean hasWait() {
+      return wait_ != null;
+    }
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 5;
+     * @return The wait.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorWaitOptions getWait() {
+      return wait_ == null ? cmvr.api.MotorCommand.MotorWaitOptions.getDefaultInstance() : wait_;
+    }
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 5;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder getWaitOrBuilder() {
+      return getWait();
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (target_ != null) {
+        output.writeMessage(1, getTarget());
+      }
+      if (java.lang.Double.doubleToRawLongBits(targetPositionRad_) != 0) {
+        output.writeDouble(2, targetPositionRad_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(maxVelocityRadS_) != 0) {
+        output.writeDouble(3, maxVelocityRadS_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(accelerationRadS2_) != 0) {
+        output.writeDouble(4, accelerationRadS2_);
+      }
+      if (wait_ != null) {
+        output.writeMessage(5, getWait());
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (target_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(1, getTarget());
+      }
+      if (java.lang.Double.doubleToRawLongBits(targetPositionRad_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(2, targetPositionRad_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(maxVelocityRadS_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(3, maxVelocityRadS_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(accelerationRadS2_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(4, accelerationRadS2_);
+      }
+      if (wait_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(5, getWait());
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.ProfilePositionRequest)) {
+        return super.equals(obj);
+      }
+      cmvr.api.MotorCommand.ProfilePositionRequest other = (cmvr.api.MotorCommand.ProfilePositionRequest) obj;
+
+      if (hasTarget() != other.hasTarget()) return false;
+      if (hasTarget()) {
+        if (!getTarget()
+            .equals(other.getTarget())) return false;
+      }
+      if (java.lang.Double.doubleToLongBits(getTargetPositionRad())
+          != java.lang.Double.doubleToLongBits(
+              other.getTargetPositionRad())) return false;
+      if (java.lang.Double.doubleToLongBits(getMaxVelocityRadS())
+          != java.lang.Double.doubleToLongBits(
+              other.getMaxVelocityRadS())) return false;
+      if (java.lang.Double.doubleToLongBits(getAccelerationRadS2())
+          != java.lang.Double.doubleToLongBits(
+              other.getAccelerationRadS2())) return false;
+      if (hasWait() != other.hasWait()) return false;
+      if (hasWait()) {
+        if (!getWait()
+            .equals(other.getWait())) return false;
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasTarget()) {
+        hash = (37 * hash) + TARGET_FIELD_NUMBER;
+        hash = (53 * hash) + getTarget().hashCode();
+      }
+      hash = (37 * hash) + TARGET_POSITION_RAD_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          java.lang.Double.doubleToLongBits(getTargetPositionRad()));
+      hash = (37 * hash) + MAX_VELOCITY_RAD_S_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          java.lang.Double.doubleToLongBits(getMaxVelocityRadS()));
+      hash = (37 * hash) + ACCELERATION_RAD_S2_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          java.lang.Double.doubleToLongBits(getAccelerationRadS2()));
+      if (hasWait()) {
+        hash = (37 * hash) + WAIT_FIELD_NUMBER;
+        hash = (53 * hash) + getWait().hashCode();
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.MotorCommand.ProfilePositionRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.ProfilePositionRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.ProfilePositionRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.ProfilePositionRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.ProfilePositionRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.ProfilePositionRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.ProfilePositionRequest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.ProfilePositionRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.ProfilePositionRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.ProfilePositionRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.ProfilePositionRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.ProfilePositionRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.ProfilePositionRequest prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.ProfilePositionRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.ProfilePositionRequest)
+        cmvr.api.MotorCommand.ProfilePositionRequestOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_ProfilePositionRequest_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_ProfilePositionRequest_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.ProfilePositionRequest.class, cmvr.api.MotorCommand.ProfilePositionRequest.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.ProfilePositionRequest.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (targetBuilder_ == null) {
+          target_ = null;
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+        targetPositionRad_ = 0D;
+
+        maxVelocityRadS_ = 0D;
+
+        accelerationRadS2_ = 0D;
+
+        if (waitBuilder_ == null) {
+          wait_ = null;
+        } else {
+          wait_ = null;
+          waitBuilder_ = null;
+        }
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_ProfilePositionRequest_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.ProfilePositionRequest getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.ProfilePositionRequest.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.ProfilePositionRequest build() {
+        cmvr.api.MotorCommand.ProfilePositionRequest result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.ProfilePositionRequest buildPartial() {
+        cmvr.api.MotorCommand.ProfilePositionRequest result = new cmvr.api.MotorCommand.ProfilePositionRequest(this);
+        if (targetBuilder_ == null) {
+          result.target_ = target_;
+        } else {
+          result.target_ = targetBuilder_.build();
+        }
+        result.targetPositionRad_ = targetPositionRad_;
+        result.maxVelocityRadS_ = maxVelocityRadS_;
+        result.accelerationRadS2_ = accelerationRadS2_;
+        if (waitBuilder_ == null) {
+          result.wait_ = wait_;
+        } else {
+          result.wait_ = waitBuilder_.build();
+        }
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.ProfilePositionRequest) {
+          return mergeFrom((cmvr.api.MotorCommand.ProfilePositionRequest)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.ProfilePositionRequest other) {
+        if (other == cmvr.api.MotorCommand.ProfilePositionRequest.getDefaultInstance()) return this;
+        if (other.hasTarget()) {
+          mergeTarget(other.getTarget());
+        }
+        if (other.getTargetPositionRad() != 0D) {
+          setTargetPositionRad(other.getTargetPositionRad());
+        }
+        if (other.getMaxVelocityRadS() != 0D) {
+          setMaxVelocityRadS(other.getMaxVelocityRadS());
+        }
+        if (other.getAccelerationRadS2() != 0D) {
+          setAccelerationRadS2(other.getAccelerationRadS2());
+        }
+        if (other.hasWait()) {
+          mergeWait(other.getWait());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
+                    getTargetFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 10
+              case 17: {
+                targetPositionRad_ = input.readDouble();
+
+                break;
+              } // case 17
+              case 25: {
+                maxVelocityRadS_ = input.readDouble();
+
+                break;
+              } // case 25
+              case 33: {
+                accelerationRadS2_ = input.readDouble();
+
+                break;
+              } // case 33
+              case 42: {
+                input.readMessage(
+                    getWaitFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 42
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private cmvr.api.MotorCommand.MotorTarget target_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> targetBuilder_;
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return Whether the target field is set.
+       */
+      public boolean hasTarget() {
+        return targetBuilder_ != null || target_ != null;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return The target.
+       */
+      public cmvr.api.MotorCommand.MotorTarget getTarget() {
+        if (targetBuilder_ == null) {
+          return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        } else {
+          return targetBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          target_ = value;
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(
+          cmvr.api.MotorCommand.MotorTarget.Builder builderForValue) {
+        if (targetBuilder_ == null) {
+          target_ = builderForValue.build();
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder mergeTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (target_ != null) {
+            target_ =
+              cmvr.api.MotorCommand.MotorTarget.newBuilder(target_).mergeFrom(value).buildPartial();
+          } else {
+            target_ = value;
+          }
+          onChanged();
+        } else {
+          targetBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder clearTarget() {
+        if (targetBuilder_ == null) {
+          target_ = null;
+          onChanged();
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTarget.Builder getTargetBuilder() {
+        
+        onChanged();
+        return getTargetFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+        if (targetBuilder_ != null) {
+          return targetBuilder_.getMessageOrBuilder();
+        } else {
+          return target_ == null ?
+              cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> 
+          getTargetFieldBuilder() {
+        if (targetBuilder_ == null) {
+          targetBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder>(
+                  getTarget(),
+                  getParentForChildren(),
+                  isClean());
+          target_ = null;
+        }
+        return targetBuilder_;
+      }
+
+      private double targetPositionRad_ ;
+      /**
+       * double target_position_rad = 2;
+       * @return The targetPositionRad.
+       */
+      @java.lang.Override
+      public double getTargetPositionRad() {
+        return targetPositionRad_;
+      }
+      /**
+       * double target_position_rad = 2;
+       * @param value The targetPositionRad to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTargetPositionRad(double value) {
+        
+        targetPositionRad_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * double target_position_rad = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearTargetPositionRad() {
+        
+        targetPositionRad_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double maxVelocityRadS_ ;
+      /**
+       * double max_velocity_rad_s = 3;
+       * @return The maxVelocityRadS.
+       */
+      @java.lang.Override
+      public double getMaxVelocityRadS() {
+        return maxVelocityRadS_;
+      }
+      /**
+       * double max_velocity_rad_s = 3;
+       * @param value The maxVelocityRadS to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaxVelocityRadS(double value) {
+        
+        maxVelocityRadS_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * double max_velocity_rad_s = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearMaxVelocityRadS() {
+        
+        maxVelocityRadS_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double accelerationRadS2_ ;
+      /**
+       * double acceleration_rad_s2 = 4;
+       * @return The accelerationRadS2.
+       */
+      @java.lang.Override
+      public double getAccelerationRadS2() {
+        return accelerationRadS2_;
+      }
+      /**
+       * double acceleration_rad_s2 = 4;
+       * @param value The accelerationRadS2 to set.
+       * @return This builder for chaining.
+       */
+      public Builder setAccelerationRadS2(double value) {
+        
+        accelerationRadS2_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * double acceleration_rad_s2 = 4;
+       * @return This builder for chaining.
+       */
+      public Builder clearAccelerationRadS2() {
+        
+        accelerationRadS2_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private cmvr.api.MotorCommand.MotorWaitOptions wait_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorWaitOptions, cmvr.api.MotorCommand.MotorWaitOptions.Builder, cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder> waitBuilder_;
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 5;
+       * @return Whether the wait field is set.
+       */
+      public boolean hasWait() {
+        return waitBuilder_ != null || wait_ != null;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 5;
+       * @return The wait.
+       */
+      public cmvr.api.MotorCommand.MotorWaitOptions getWait() {
+        if (waitBuilder_ == null) {
+          return wait_ == null ? cmvr.api.MotorCommand.MotorWaitOptions.getDefaultInstance() : wait_;
+        } else {
+          return waitBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 5;
+       */
+      public Builder setWait(cmvr.api.MotorCommand.MotorWaitOptions value) {
+        if (waitBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          wait_ = value;
+          onChanged();
+        } else {
+          waitBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 5;
+       */
+      public Builder setWait(
+          cmvr.api.MotorCommand.MotorWaitOptions.Builder builderForValue) {
+        if (waitBuilder_ == null) {
+          wait_ = builderForValue.build();
+          onChanged();
+        } else {
+          waitBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 5;
+       */
+      public Builder mergeWait(cmvr.api.MotorCommand.MotorWaitOptions value) {
+        if (waitBuilder_ == null) {
+          if (wait_ != null) {
+            wait_ =
+              cmvr.api.MotorCommand.MotorWaitOptions.newBuilder(wait_).mergeFrom(value).buildPartial();
+          } else {
+            wait_ = value;
+          }
+          onChanged();
+        } else {
+          waitBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 5;
+       */
+      public Builder clearWait() {
+        if (waitBuilder_ == null) {
+          wait_ = null;
+          onChanged();
+        } else {
+          wait_ = null;
+          waitBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 5;
+       */
+      public cmvr.api.MotorCommand.MotorWaitOptions.Builder getWaitBuilder() {
+        
+        onChanged();
+        return getWaitFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 5;
+       */
+      public cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder getWaitOrBuilder() {
+        if (waitBuilder_ != null) {
+          return waitBuilder_.getMessageOrBuilder();
+        } else {
+          return wait_ == null ?
+              cmvr.api.MotorCommand.MotorWaitOptions.getDefaultInstance() : wait_;
+        }
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 5;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorWaitOptions, cmvr.api.MotorCommand.MotorWaitOptions.Builder, cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder> 
+          getWaitFieldBuilder() {
+        if (waitBuilder_ == null) {
+          waitBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorWaitOptions, cmvr.api.MotorCommand.MotorWaitOptions.Builder, cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder>(
+                  getWait(),
+                  getParentForChildren(),
+                  isClean());
+          wait_ = null;
+        }
+        return waitBuilder_;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.ProfilePositionRequest)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.ProfilePositionRequest)
+    private static final cmvr.api.MotorCommand.ProfilePositionRequest DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.ProfilePositionRequest();
+    }
+
+    public static cmvr.api.MotorCommand.ProfilePositionRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public ProfilePositionRequest parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.ProfilePositionRequest getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface ProfileVelocityRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.ProfileVelocityRequest)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    boolean hasTarget();
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
+    cmvr.api.MotorCommand.MotorTarget getTarget();
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
+    cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder();
+
+    /**
+     * double target_velocity_rad_s = 2;
+     * @return The targetVelocityRadS.
+     */
+    double getTargetVelocityRadS();
+
+    /**
+     * double acceleration_rad_s2 = 3;
+     * @return The accelerationRadS2.
+     */
+    double getAccelerationRadS2();
+
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 4;
+     * @return Whether the wait field is set.
+     */
+    boolean hasWait();
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 4;
+     * @return The wait.
+     */
+    cmvr.api.MotorCommand.MotorWaitOptions getWait();
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 4;
+     */
+    cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder getWaitOrBuilder();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.ProfileVelocityRequest}
+   */
+  public static final class ProfileVelocityRequest extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.ProfileVelocityRequest)
+      ProfileVelocityRequestOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use ProfileVelocityRequest.newBuilder() to construct.
+    private ProfileVelocityRequest(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private ProfileVelocityRequest() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new ProfileVelocityRequest();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_ProfileVelocityRequest_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_ProfileVelocityRequest_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.MotorCommand.ProfileVelocityRequest.class, cmvr.api.MotorCommand.ProfileVelocityRequest.Builder.class);
+    }
+
+    public static final int TARGET_FIELD_NUMBER = 1;
+    private cmvr.api.MotorCommand.MotorTarget target_;
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    @java.lang.Override
+    public boolean hasTarget() {
+      return target_ != null;
+    }
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTarget getTarget() {
+      return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+    }
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+      return getTarget();
+    }
+
+    public static final int TARGET_VELOCITY_RAD_S_FIELD_NUMBER = 2;
+    private double targetVelocityRadS_;
+    /**
+     * double target_velocity_rad_s = 2;
+     * @return The targetVelocityRadS.
+     */
+    @java.lang.Override
+    public double getTargetVelocityRadS() {
+      return targetVelocityRadS_;
+    }
+
+    public static final int ACCELERATION_RAD_S2_FIELD_NUMBER = 3;
+    private double accelerationRadS2_;
+    /**
+     * double acceleration_rad_s2 = 3;
+     * @return The accelerationRadS2.
+     */
+    @java.lang.Override
+    public double getAccelerationRadS2() {
+      return accelerationRadS2_;
+    }
+
+    public static final int WAIT_FIELD_NUMBER = 4;
+    private cmvr.api.MotorCommand.MotorWaitOptions wait_;
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 4;
+     * @return Whether the wait field is set.
+     */
+    @java.lang.Override
+    public boolean hasWait() {
+      return wait_ != null;
+    }
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 4;
+     * @return The wait.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorWaitOptions getWait() {
+      return wait_ == null ? cmvr.api.MotorCommand.MotorWaitOptions.getDefaultInstance() : wait_;
+    }
+    /**
+     * .cmvr.api.MotorWaitOptions wait = 4;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder getWaitOrBuilder() {
+      return getWait();
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (target_ != null) {
+        output.writeMessage(1, getTarget());
+      }
+      if (java.lang.Double.doubleToRawLongBits(targetVelocityRadS_) != 0) {
+        output.writeDouble(2, targetVelocityRadS_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(accelerationRadS2_) != 0) {
+        output.writeDouble(3, accelerationRadS2_);
+      }
+      if (wait_ != null) {
+        output.writeMessage(4, getWait());
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (target_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(1, getTarget());
+      }
+      if (java.lang.Double.doubleToRawLongBits(targetVelocityRadS_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(2, targetVelocityRadS_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(accelerationRadS2_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(3, accelerationRadS2_);
+      }
+      if (wait_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(4, getWait());
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.ProfileVelocityRequest)) {
+        return super.equals(obj);
+      }
+      cmvr.api.MotorCommand.ProfileVelocityRequest other = (cmvr.api.MotorCommand.ProfileVelocityRequest) obj;
+
+      if (hasTarget() != other.hasTarget()) return false;
+      if (hasTarget()) {
+        if (!getTarget()
+            .equals(other.getTarget())) return false;
+      }
+      if (java.lang.Double.doubleToLongBits(getTargetVelocityRadS())
+          != java.lang.Double.doubleToLongBits(
+              other.getTargetVelocityRadS())) return false;
+      if (java.lang.Double.doubleToLongBits(getAccelerationRadS2())
+          != java.lang.Double.doubleToLongBits(
+              other.getAccelerationRadS2())) return false;
+      if (hasWait() != other.hasWait()) return false;
+      if (hasWait()) {
+        if (!getWait()
+            .equals(other.getWait())) return false;
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasTarget()) {
+        hash = (37 * hash) + TARGET_FIELD_NUMBER;
+        hash = (53 * hash) + getTarget().hashCode();
+      }
+      hash = (37 * hash) + TARGET_VELOCITY_RAD_S_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          java.lang.Double.doubleToLongBits(getTargetVelocityRadS()));
+      hash = (37 * hash) + ACCELERATION_RAD_S2_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          java.lang.Double.doubleToLongBits(getAccelerationRadS2()));
+      if (hasWait()) {
+        hash = (37 * hash) + WAIT_FIELD_NUMBER;
+        hash = (53 * hash) + getWait().hashCode();
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.MotorCommand.ProfileVelocityRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.ProfileVelocityRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.ProfileVelocityRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.ProfileVelocityRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.ProfileVelocityRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.ProfileVelocityRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.ProfileVelocityRequest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.ProfileVelocityRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.ProfileVelocityRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.ProfileVelocityRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.ProfileVelocityRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.ProfileVelocityRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.ProfileVelocityRequest prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.ProfileVelocityRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.ProfileVelocityRequest)
+        cmvr.api.MotorCommand.ProfileVelocityRequestOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_ProfileVelocityRequest_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_ProfileVelocityRequest_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.ProfileVelocityRequest.class, cmvr.api.MotorCommand.ProfileVelocityRequest.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.ProfileVelocityRequest.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (targetBuilder_ == null) {
+          target_ = null;
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+        targetVelocityRadS_ = 0D;
+
+        accelerationRadS2_ = 0D;
+
+        if (waitBuilder_ == null) {
+          wait_ = null;
+        } else {
+          wait_ = null;
+          waitBuilder_ = null;
+        }
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_ProfileVelocityRequest_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.ProfileVelocityRequest getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.ProfileVelocityRequest.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.ProfileVelocityRequest build() {
+        cmvr.api.MotorCommand.ProfileVelocityRequest result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.ProfileVelocityRequest buildPartial() {
+        cmvr.api.MotorCommand.ProfileVelocityRequest result = new cmvr.api.MotorCommand.ProfileVelocityRequest(this);
+        if (targetBuilder_ == null) {
+          result.target_ = target_;
+        } else {
+          result.target_ = targetBuilder_.build();
+        }
+        result.targetVelocityRadS_ = targetVelocityRadS_;
+        result.accelerationRadS2_ = accelerationRadS2_;
+        if (waitBuilder_ == null) {
+          result.wait_ = wait_;
+        } else {
+          result.wait_ = waitBuilder_.build();
+        }
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.ProfileVelocityRequest) {
+          return mergeFrom((cmvr.api.MotorCommand.ProfileVelocityRequest)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.ProfileVelocityRequest other) {
+        if (other == cmvr.api.MotorCommand.ProfileVelocityRequest.getDefaultInstance()) return this;
+        if (other.hasTarget()) {
+          mergeTarget(other.getTarget());
+        }
+        if (other.getTargetVelocityRadS() != 0D) {
+          setTargetVelocityRadS(other.getTargetVelocityRadS());
+        }
+        if (other.getAccelerationRadS2() != 0D) {
+          setAccelerationRadS2(other.getAccelerationRadS2());
+        }
+        if (other.hasWait()) {
+          mergeWait(other.getWait());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
+                    getTargetFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 10
+              case 17: {
+                targetVelocityRadS_ = input.readDouble();
+
+                break;
+              } // case 17
+              case 25: {
+                accelerationRadS2_ = input.readDouble();
+
+                break;
+              } // case 25
+              case 34: {
+                input.readMessage(
+                    getWaitFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 34
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private cmvr.api.MotorCommand.MotorTarget target_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> targetBuilder_;
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return Whether the target field is set.
+       */
+      public boolean hasTarget() {
+        return targetBuilder_ != null || target_ != null;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return The target.
+       */
+      public cmvr.api.MotorCommand.MotorTarget getTarget() {
+        if (targetBuilder_ == null) {
+          return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        } else {
+          return targetBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          target_ = value;
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(
+          cmvr.api.MotorCommand.MotorTarget.Builder builderForValue) {
+        if (targetBuilder_ == null) {
+          target_ = builderForValue.build();
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder mergeTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (target_ != null) {
+            target_ =
+              cmvr.api.MotorCommand.MotorTarget.newBuilder(target_).mergeFrom(value).buildPartial();
+          } else {
+            target_ = value;
+          }
+          onChanged();
+        } else {
+          targetBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder clearTarget() {
+        if (targetBuilder_ == null) {
+          target_ = null;
+          onChanged();
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTarget.Builder getTargetBuilder() {
+        
+        onChanged();
+        return getTargetFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+        if (targetBuilder_ != null) {
+          return targetBuilder_.getMessageOrBuilder();
+        } else {
+          return target_ == null ?
+              cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> 
+          getTargetFieldBuilder() {
+        if (targetBuilder_ == null) {
+          targetBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder>(
+                  getTarget(),
+                  getParentForChildren(),
+                  isClean());
+          target_ = null;
+        }
+        return targetBuilder_;
+      }
+
+      private double targetVelocityRadS_ ;
+      /**
+       * double target_velocity_rad_s = 2;
+       * @return The targetVelocityRadS.
+       */
+      @java.lang.Override
+      public double getTargetVelocityRadS() {
+        return targetVelocityRadS_;
+      }
+      /**
+       * double target_velocity_rad_s = 2;
+       * @param value The targetVelocityRadS to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTargetVelocityRadS(double value) {
+        
+        targetVelocityRadS_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * double target_velocity_rad_s = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearTargetVelocityRadS() {
+        
+        targetVelocityRadS_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double accelerationRadS2_ ;
+      /**
+       * double acceleration_rad_s2 = 3;
+       * @return The accelerationRadS2.
+       */
+      @java.lang.Override
+      public double getAccelerationRadS2() {
+        return accelerationRadS2_;
+      }
+      /**
+       * double acceleration_rad_s2 = 3;
+       * @param value The accelerationRadS2 to set.
+       * @return This builder for chaining.
+       */
+      public Builder setAccelerationRadS2(double value) {
+        
+        accelerationRadS2_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * double acceleration_rad_s2 = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearAccelerationRadS2() {
+        
+        accelerationRadS2_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private cmvr.api.MotorCommand.MotorWaitOptions wait_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorWaitOptions, cmvr.api.MotorCommand.MotorWaitOptions.Builder, cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder> waitBuilder_;
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       * @return Whether the wait field is set.
+       */
+      public boolean hasWait() {
+        return waitBuilder_ != null || wait_ != null;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       * @return The wait.
+       */
+      public cmvr.api.MotorCommand.MotorWaitOptions getWait() {
+        if (waitBuilder_ == null) {
+          return wait_ == null ? cmvr.api.MotorCommand.MotorWaitOptions.getDefaultInstance() : wait_;
+        } else {
+          return waitBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      public Builder setWait(cmvr.api.MotorCommand.MotorWaitOptions value) {
+        if (waitBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          wait_ = value;
+          onChanged();
+        } else {
+          waitBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      public Builder setWait(
+          cmvr.api.MotorCommand.MotorWaitOptions.Builder builderForValue) {
+        if (waitBuilder_ == null) {
+          wait_ = builderForValue.build();
+          onChanged();
+        } else {
+          waitBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      public Builder mergeWait(cmvr.api.MotorCommand.MotorWaitOptions value) {
+        if (waitBuilder_ == null) {
+          if (wait_ != null) {
+            wait_ =
+              cmvr.api.MotorCommand.MotorWaitOptions.newBuilder(wait_).mergeFrom(value).buildPartial();
+          } else {
+            wait_ = value;
+          }
+          onChanged();
+        } else {
+          waitBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      public Builder clearWait() {
+        if (waitBuilder_ == null) {
+          wait_ = null;
+          onChanged();
+        } else {
+          wait_ = null;
+          waitBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      public cmvr.api.MotorCommand.MotorWaitOptions.Builder getWaitBuilder() {
+        
+        onChanged();
+        return getWaitFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      public cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder getWaitOrBuilder() {
+        if (waitBuilder_ != null) {
+          return waitBuilder_.getMessageOrBuilder();
+        } else {
+          return wait_ == null ?
+              cmvr.api.MotorCommand.MotorWaitOptions.getDefaultInstance() : wait_;
+        }
+      }
+      /**
+       * .cmvr.api.MotorWaitOptions wait = 4;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorWaitOptions, cmvr.api.MotorCommand.MotorWaitOptions.Builder, cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder> 
+          getWaitFieldBuilder() {
+        if (waitBuilder_ == null) {
+          waitBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorWaitOptions, cmvr.api.MotorCommand.MotorWaitOptions.Builder, cmvr.api.MotorCommand.MotorWaitOptionsOrBuilder>(
+                  getWait(),
+                  getParentForChildren(),
+                  isClean());
+          wait_ = null;
+        }
+        return waitBuilder_;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.ProfileVelocityRequest)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.ProfileVelocityRequest)
+    private static final cmvr.api.MotorCommand.ProfileVelocityRequest DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.ProfileVelocityRequest();
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+          throws com.google.protobuf.InvalidProtocolBufferException {
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+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
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+    }
+
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+      com.google.protobuf.MessageOrBuilder {
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+    /**
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+     * @return The target.
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+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
+    cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder();
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+   */
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+      // @@protoc_insertion_point(message_implements:cmvr.api.EmergencyStopRequest)
+      EmergencyStopRequestOrBuilder {
+  private static final long serialVersionUID = 0L;
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+     * @return Whether the target field is set.
+     */
+    @java.lang.Override
+    public boolean hasTarget() {
+      return target_ != null;
+    }
+    /**
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+     * @return The target.
+     */
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+    public cmvr.api.MotorCommand.MotorTarget getTarget() {
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+     */
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+    public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
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+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.EmergencyStopRequest)) {
+        return super.equals(obj);
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+      cmvr.api.MotorCommand.EmergencyStopRequest other = (cmvr.api.MotorCommand.EmergencyStopRequest) obj;
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+      if (hasTarget() != other.hasTarget()) return false;
+      if (hasTarget()) {
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+    public int hashCode() {
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+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
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+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.MotorCommand.EmergencyStopRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.EmergencyStopRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.MotorCommand.EmergencyStopRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.EmergencyStopRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
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+    public static cmvr.api.MotorCommand.EmergencyStopRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
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+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
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+    public static cmvr.api.MotorCommand.EmergencyStopRequest parseDelimitedFrom(
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
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+    public static cmvr.api.MotorCommand.EmergencyStopRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.EmergencyStopRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
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+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.EmergencyStopRequest prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
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+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.EmergencyStopRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.EmergencyStopRequest)
+        cmvr.api.MotorCommand.EmergencyStopRequestOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_EmergencyStopRequest_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
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+
+      // Construct using cmvr.api.MotorCommand.EmergencyStopRequest.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
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+        if (targetBuilder_ == null) {
+          target_ = null;
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+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_EmergencyStopRequest_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.EmergencyStopRequest getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.EmergencyStopRequest.getDefaultInstance();
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+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.EmergencyStopRequest build() {
+        cmvr.api.MotorCommand.EmergencyStopRequest result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
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+        return result;
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+      @java.lang.Override
+      public cmvr.api.MotorCommand.EmergencyStopRequest buildPartial() {
+        cmvr.api.MotorCommand.EmergencyStopRequest result = new cmvr.api.MotorCommand.EmergencyStopRequest(this);
+        if (targetBuilder_ == null) {
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+      public Builder setField(
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+      @java.lang.Override
+      public Builder clearField(
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+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
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+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
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+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
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+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.EmergencyStopRequest) {
+          return mergeFrom((cmvr.api.MotorCommand.EmergencyStopRequest)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.EmergencyStopRequest other) {
+        if (other == cmvr.api.MotorCommand.EmergencyStopRequest.getDefaultInstance()) return this;
+        if (other.hasTarget()) {
+          mergeTarget(other.getTarget());
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+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
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+      @java.lang.Override
+      public final boolean isInitialized() {
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+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
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+        try {
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+                break;
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+        return this;
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+      private cmvr.api.MotorCommand.MotorTarget target_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> targetBuilder_;
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return Whether the target field is set.
+       */
+      public boolean hasTarget() {
+        return targetBuilder_ != null || target_ != null;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return The target.
+       */
+      public cmvr.api.MotorCommand.MotorTarget getTarget() {
+        if (targetBuilder_ == null) {
+          return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        } else {
+          return targetBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (value == null) {
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+          }
+          target_ = value;
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(
+          cmvr.api.MotorCommand.MotorTarget.Builder builderForValue) {
+        if (targetBuilder_ == null) {
+          target_ = builderForValue.build();
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder mergeTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (target_ != null) {
+            target_ =
+              cmvr.api.MotorCommand.MotorTarget.newBuilder(target_).mergeFrom(value).buildPartial();
+          } else {
+            target_ = value;
+          }
+          onChanged();
+        } else {
+          targetBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder clearTarget() {
+        if (targetBuilder_ == null) {
+          target_ = null;
+          onChanged();
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTarget.Builder getTargetBuilder() {
+        
+        onChanged();
+        return getTargetFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+        if (targetBuilder_ != null) {
+          return targetBuilder_.getMessageOrBuilder();
+        } else {
+          return target_ == null ?
+              cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> 
+          getTargetFieldBuilder() {
+        if (targetBuilder_ == null) {
+          targetBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder>(
+                  getTarget(),
+                  getParentForChildren(),
+                  isClean());
+          target_ = null;
+        }
+        return targetBuilder_;
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+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
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+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.EmergencyStopRequest)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.EmergencyStopRequest)
+    private static final cmvr.api.MotorCommand.EmergencyStopRequest DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.EmergencyStopRequest();
+    }
+
+    public static cmvr.api.MotorCommand.EmergencyStopRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public EmergencyStopRequest parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
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+
+    public static com.google.protobuf.Parser parser() {
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+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.EmergencyStopRequest getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
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+      // @@protoc_insertion_point(interface_extends:cmvr.api.GetMotorStatusRequest)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
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+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
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+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
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+  }
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+   */
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+      // @@protoc_insertion_point(message_implements:cmvr.api.GetMotorStatusRequest)
+      GetMotorStatusRequestOrBuilder {
+  private static final long serialVersionUID = 0L;
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+    }
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+    public static final int TARGET_FIELD_NUMBER = 1;
+    private cmvr.api.MotorCommand.MotorTarget target_;
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    @java.lang.Override
+    public boolean hasTarget() {
+      return target_ != null;
+    }
+    /**
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+     * @return The target.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTarget getTarget() {
+      return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
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+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
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+    public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
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+    public void writeTo(com.google.protobuf.CodedOutputStream output)
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+      if (target_ != null) {
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+      getUnknownFields().writeTo(output);
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+    @java.lang.Override
+    public int getSerializedSize() {
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+      if (size != -1) return size;
+
+      size = 0;
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+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.GetMotorStatusRequest)) {
+        return super.equals(obj);
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+      cmvr.api.MotorCommand.GetMotorStatusRequest other = (cmvr.api.MotorCommand.GetMotorStatusRequest) obj;
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+      if (hasTarget() != other.hasTarget()) return false;
+      if (hasTarget()) {
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+      return true;
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+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
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+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasTarget()) {
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+    public static cmvr.api.MotorCommand.GetMotorStatusRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.MotorCommand.GetMotorStatusRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.MotorCommand.GetMotorStatusRequest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
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+    public static cmvr.api.MotorCommand.GetMotorStatusRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
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+    public static cmvr.api.MotorCommand.GetMotorStatusRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
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+    public static cmvr.api.MotorCommand.GetMotorStatusRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.GetMotorStatusRequest prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.GetMotorStatusRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.GetMotorStatusRequest)
+        cmvr.api.MotorCommand.GetMotorStatusRequestOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_GetMotorStatusRequest_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_GetMotorStatusRequest_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.GetMotorStatusRequest.class, cmvr.api.MotorCommand.GetMotorStatusRequest.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.GetMotorStatusRequest.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (targetBuilder_ == null) {
+          target_ = null;
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_GetMotorStatusRequest_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.GetMotorStatusRequest getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.GetMotorStatusRequest.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.GetMotorStatusRequest build() {
+        cmvr.api.MotorCommand.GetMotorStatusRequest result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.GetMotorStatusRequest buildPartial() {
+        cmvr.api.MotorCommand.GetMotorStatusRequest result = new cmvr.api.MotorCommand.GetMotorStatusRequest(this);
+        if (targetBuilder_ == null) {
+          result.target_ = target_;
+        } else {
+          result.target_ = targetBuilder_.build();
+        }
+        onBuilt();
+        return result;
+      }
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+      @java.lang.Override
+      public Builder clone() {
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+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
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+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
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+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
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+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.GetMotorStatusRequest) {
+          return mergeFrom((cmvr.api.MotorCommand.GetMotorStatusRequest)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.GetMotorStatusRequest other) {
+        if (other == cmvr.api.MotorCommand.GetMotorStatusRequest.getDefaultInstance()) return this;
+        if (other.hasTarget()) {
+          mergeTarget(other.getTarget());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
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+        try {
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+          while (!done) {
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+            switch (tag) {
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+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
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+                    extensionRegistry);
+
+                break;
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+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private cmvr.api.MotorCommand.MotorTarget target_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> targetBuilder_;
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return Whether the target field is set.
+       */
+      public boolean hasTarget() {
+        return targetBuilder_ != null || target_ != null;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return The target.
+       */
+      public cmvr.api.MotorCommand.MotorTarget getTarget() {
+        if (targetBuilder_ == null) {
+          return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        } else {
+          return targetBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          target_ = value;
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(
+          cmvr.api.MotorCommand.MotorTarget.Builder builderForValue) {
+        if (targetBuilder_ == null) {
+          target_ = builderForValue.build();
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder mergeTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (target_ != null) {
+            target_ =
+              cmvr.api.MotorCommand.MotorTarget.newBuilder(target_).mergeFrom(value).buildPartial();
+          } else {
+            target_ = value;
+          }
+          onChanged();
+        } else {
+          targetBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder clearTarget() {
+        if (targetBuilder_ == null) {
+          target_ = null;
+          onChanged();
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTarget.Builder getTargetBuilder() {
+        
+        onChanged();
+        return getTargetFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+        if (targetBuilder_ != null) {
+          return targetBuilder_.getMessageOrBuilder();
+        } else {
+          return target_ == null ?
+              cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> 
+          getTargetFieldBuilder() {
+        if (targetBuilder_ == null) {
+          targetBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder>(
+                  getTarget(),
+                  getParentForChildren(),
+                  isClean());
+          target_ = null;
+        }
+        return targetBuilder_;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.GetMotorStatusRequest)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.GetMotorStatusRequest)
+    private static final cmvr.api.MotorCommand.GetMotorStatusRequest DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.GetMotorStatusRequest();
+    }
+
+    public static cmvr.api.MotorCommand.GetMotorStatusRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public GetMotorStatusRequest parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.GetMotorStatusRequest getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface GetMotorStatusResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.GetMotorStatusResponse)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     * @return Whether the header field is set.
+     */
+    boolean hasHeader();
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     * @return The header.
+     */
+    cmvr.api.Common.CommandHeader.Feedback getHeader();
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     */
+    cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
+
+    /**
+     * .cmvr.api.MotorStatus status = 2;
+     * @return Whether the status field is set.
+     */
+    boolean hasStatus();
+    /**
+     * .cmvr.api.MotorStatus status = 2;
+     * @return The status.
+     */
+    cmvr.api.MotorCommand.MotorStatus getStatus();
+    /**
+     * .cmvr.api.MotorStatus status = 2;
+     */
+    cmvr.api.MotorCommand.MotorStatusOrBuilder getStatusOrBuilder();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.GetMotorStatusResponse}
+   */
+  public static final class GetMotorStatusResponse extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.GetMotorStatusResponse)
+      GetMotorStatusResponseOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use GetMotorStatusResponse.newBuilder() to construct.
+    private GetMotorStatusResponse(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private GetMotorStatusResponse() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new GetMotorStatusResponse();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_GetMotorStatusResponse_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
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+    }
+
+    public static final int HEADER_FIELD_NUMBER = 1;
+    private cmvr.api.Common.CommandHeader.Feedback header_;
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     * @return Whether the header field is set.
+     */
+    @java.lang.Override
+    public boolean hasHeader() {
+      return header_ != null;
+    }
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     * @return The header.
+     */
+    @java.lang.Override
+    public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+      return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+    }
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     */
+    @java.lang.Override
+    public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+      return getHeader();
+    }
+
+    public static final int STATUS_FIELD_NUMBER = 2;
+    private cmvr.api.MotorCommand.MotorStatus status_;
+    /**
+     * .cmvr.api.MotorStatus status = 2;
+     * @return Whether the status field is set.
+     */
+    @java.lang.Override
+    public boolean hasStatus() {
+      return status_ != null;
+    }
+    /**
+     * .cmvr.api.MotorStatus status = 2;
+     * @return The status.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorStatus getStatus() {
+      return status_ == null ? cmvr.api.MotorCommand.MotorStatus.getDefaultInstance() : status_;
+    }
+    /**
+     * .cmvr.api.MotorStatus status = 2;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorStatusOrBuilder getStatusOrBuilder() {
+      return getStatus();
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
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+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (header_ != null) {
+        output.writeMessage(1, getHeader());
+      }
+      if (status_ != null) {
+        output.writeMessage(2, getStatus());
+      }
+      getUnknownFields().writeTo(output);
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+
+    @java.lang.Override
+    public int getSerializedSize() {
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+      if (size != -1) return size;
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+      size = 0;
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+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
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+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.GetMotorStatusResponse)) {
+        return super.equals(obj);
+      }
+      cmvr.api.MotorCommand.GetMotorStatusResponse other = (cmvr.api.MotorCommand.GetMotorStatusResponse) obj;
+
+      if (hasHeader() != other.hasHeader()) return false;
+      if (hasHeader()) {
+        if (!getHeader()
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+      if (hasStatus() != other.hasStatus()) return false;
+      if (hasStatus()) {
+        if (!getStatus()
+            .equals(other.getStatus())) return false;
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasHeader()) {
+        hash = (37 * hash) + HEADER_FIELD_NUMBER;
+        hash = (53 * hash) + getHeader().hashCode();
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+      if (hasStatus()) {
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+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
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+
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.GetMotorStatusResponse prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.GetMotorStatusResponse}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.GetMotorStatusResponse)
+        cmvr.api.MotorCommand.GetMotorStatusResponseOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_GetMotorStatusResponse_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_GetMotorStatusResponse_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.GetMotorStatusResponse.class, cmvr.api.MotorCommand.GetMotorStatusResponse.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.GetMotorStatusResponse.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (headerBuilder_ == null) {
+          header_ = null;
+        } else {
+          header_ = null;
+          headerBuilder_ = null;
+        }
+        if (statusBuilder_ == null) {
+          status_ = null;
+        } else {
+          status_ = null;
+          statusBuilder_ = null;
+        }
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_GetMotorStatusResponse_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.GetMotorStatusResponse getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.GetMotorStatusResponse.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.GetMotorStatusResponse build() {
+        cmvr.api.MotorCommand.GetMotorStatusResponse result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.GetMotorStatusResponse buildPartial() {
+        cmvr.api.MotorCommand.GetMotorStatusResponse result = new cmvr.api.MotorCommand.GetMotorStatusResponse(this);
+        if (headerBuilder_ == null) {
+          result.header_ = header_;
+        } else {
+          result.header_ = headerBuilder_.build();
+        }
+        if (statusBuilder_ == null) {
+          result.status_ = status_;
+        } else {
+          result.status_ = statusBuilder_.build();
+        }
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.GetMotorStatusResponse) {
+          return mergeFrom((cmvr.api.MotorCommand.GetMotorStatusResponse)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.GetMotorStatusResponse other) {
+        if (other == cmvr.api.MotorCommand.GetMotorStatusResponse.getDefaultInstance()) return this;
+        if (other.hasHeader()) {
+          mergeHeader(other.getHeader());
+        }
+        if (other.hasStatus()) {
+          mergeStatus(other.getStatus());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
+                    getHeaderFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 10
+              case 18: {
+                input.readMessage(
+                    getStatusFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 18
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private cmvr.api.Common.CommandHeader.Feedback header_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> headerBuilder_;
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       * @return Whether the header field is set.
+       */
+      public boolean hasHeader() {
+        return headerBuilder_ != null || header_ != null;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       * @return The header.
+       */
+      public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+        if (headerBuilder_ == null) {
+          return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+        } else {
+          return headerBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+        if (headerBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          header_ = value;
+          onChanged();
+        } else {
+          headerBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public Builder setHeader(
+          cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
+        if (headerBuilder_ == null) {
+          header_ = builderForValue.build();
+          onChanged();
+        } else {
+          headerBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+        if (headerBuilder_ == null) {
+          if (header_ != null) {
+            header_ =
+              cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
+          } else {
+            header_ = value;
+          }
+          onChanged();
+        } else {
+          headerBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public Builder clearHeader() {
+        if (headerBuilder_ == null) {
+          header_ = null;
+          onChanged();
+        } else {
+          header_ = null;
+          headerBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+        
+        onChanged();
+        return getHeaderFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+        if (headerBuilder_ != null) {
+          return headerBuilder_.getMessageOrBuilder();
+        } else {
+          return header_ == null ?
+              cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+        }
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> 
+          getHeaderFieldBuilder() {
+        if (headerBuilder_ == null) {
+          headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>(
+                  getHeader(),
+                  getParentForChildren(),
+                  isClean());
+          header_ = null;
+        }
+        return headerBuilder_;
+      }
+
+      private cmvr.api.MotorCommand.MotorStatus status_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorStatus, cmvr.api.MotorCommand.MotorStatus.Builder, cmvr.api.MotorCommand.MotorStatusOrBuilder> statusBuilder_;
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       * @return Whether the status field is set.
+       */
+      public boolean hasStatus() {
+        return statusBuilder_ != null || status_ != null;
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       * @return The status.
+       */
+      public cmvr.api.MotorCommand.MotorStatus getStatus() {
+        if (statusBuilder_ == null) {
+          return status_ == null ? cmvr.api.MotorCommand.MotorStatus.getDefaultInstance() : status_;
+        } else {
+          return statusBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      public Builder setStatus(cmvr.api.MotorCommand.MotorStatus value) {
+        if (statusBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          status_ = value;
+          onChanged();
+        } else {
+          statusBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      public Builder setStatus(
+          cmvr.api.MotorCommand.MotorStatus.Builder builderForValue) {
+        if (statusBuilder_ == null) {
+          status_ = builderForValue.build();
+          onChanged();
+        } else {
+          statusBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      public Builder mergeStatus(cmvr.api.MotorCommand.MotorStatus value) {
+        if (statusBuilder_ == null) {
+          if (status_ != null) {
+            status_ =
+              cmvr.api.MotorCommand.MotorStatus.newBuilder(status_).mergeFrom(value).buildPartial();
+          } else {
+            status_ = value;
+          }
+          onChanged();
+        } else {
+          statusBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      public Builder clearStatus() {
+        if (statusBuilder_ == null) {
+          status_ = null;
+          onChanged();
+        } else {
+          status_ = null;
+          statusBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      public cmvr.api.MotorCommand.MotorStatus.Builder getStatusBuilder() {
+        
+        onChanged();
+        return getStatusFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      public cmvr.api.MotorCommand.MotorStatusOrBuilder getStatusOrBuilder() {
+        if (statusBuilder_ != null) {
+          return statusBuilder_.getMessageOrBuilder();
+        } else {
+          return status_ == null ?
+              cmvr.api.MotorCommand.MotorStatus.getDefaultInstance() : status_;
+        }
+      }
+      /**
+       * .cmvr.api.MotorStatus status = 2;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorStatus, cmvr.api.MotorCommand.MotorStatus.Builder, cmvr.api.MotorCommand.MotorStatusOrBuilder> 
+          getStatusFieldBuilder() {
+        if (statusBuilder_ == null) {
+          statusBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorStatus, cmvr.api.MotorCommand.MotorStatus.Builder, cmvr.api.MotorCommand.MotorStatusOrBuilder>(
+                  getStatus(),
+                  getParentForChildren(),
+                  isClean());
+          status_ = null;
+        }
+        return statusBuilder_;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.GetMotorStatusResponse)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.GetMotorStatusResponse)
+    private static final cmvr.api.MotorCommand.GetMotorStatusResponse DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.GetMotorStatusResponse();
+    }
+
+    public static cmvr.api.MotorCommand.GetMotorStatusResponse getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public GetMotorStatusResponse parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.GetMotorStatusResponse getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface SetMotorEnabledRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.SetMotorEnabledRequest)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    boolean hasTarget();
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
+    cmvr.api.MotorCommand.MotorTarget getTarget();
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
+    cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder();
+
+    /**
+     * bool enabled = 2;
+     * @return The enabled.
+     */
+    boolean getEnabled();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.SetMotorEnabledRequest}
+   */
+  public static final class SetMotorEnabledRequest extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.SetMotorEnabledRequest)
+      SetMotorEnabledRequestOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use SetMotorEnabledRequest.newBuilder() to construct.
+    private SetMotorEnabledRequest(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private SetMotorEnabledRequest() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new SetMotorEnabledRequest();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_SetMotorEnabledRequest_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_SetMotorEnabledRequest_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.MotorCommand.SetMotorEnabledRequest.class, cmvr.api.MotorCommand.SetMotorEnabledRequest.Builder.class);
+    }
+
+    public static final int TARGET_FIELD_NUMBER = 1;
+    private cmvr.api.MotorCommand.MotorTarget target_;
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    @java.lang.Override
+    public boolean hasTarget() {
+      return target_ != null;
+    }
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTarget getTarget() {
+      return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+    }
+    /**
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+    public boolean equals(final java.lang.Object obj) {
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+      if (memoizedHashCode != 0) {
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+      return PARSER.parseFrom(data, extensionRegistry);
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+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
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+    }
+    public static cmvr.api.MotorCommand.SetMotorEnabledRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.MotorCommand.SetMotorEnabledRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.SetMotorEnabledRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.MotorCommand.SetMotorEnabledRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
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+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
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+    public static cmvr.api.MotorCommand.SetMotorEnabledRequest parseDelimitedFrom(
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
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+    public static cmvr.api.MotorCommand.SetMotorEnabledRequest parseFrom(
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+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
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+    public static cmvr.api.MotorCommand.SetMotorEnabledRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
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+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
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+    public static Builder newBuilder(cmvr.api.MotorCommand.SetMotorEnabledRequest prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
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+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
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+    /**
+     * Protobuf type {@code cmvr.api.SetMotorEnabledRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.SetMotorEnabledRequest)
+        cmvr.api.MotorCommand.SetMotorEnabledRequestOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_SetMotorEnabledRequest_descriptor;
+      }
+
+      @java.lang.Override
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+      private Builder() {
+
+      }
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+      }
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+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
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+      public cmvr.api.MotorCommand.SetMotorEnabledRequest getDefaultInstanceForType() {
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+      public cmvr.api.MotorCommand.SetMotorEnabledRequest build() {
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+      @java.lang.Override
+      public cmvr.api.MotorCommand.SetMotorEnabledRequest buildPartial() {
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+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.SetMotorEnabledRequest) {
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+          return this;
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+      public Builder mergeFrom(cmvr.api.MotorCommand.SetMotorEnabledRequest other) {
+        if (other == cmvr.api.MotorCommand.SetMotorEnabledRequest.getDefaultInstance()) return this;
+        if (other.hasTarget()) {
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+      @java.lang.Override
+      public Builder mergeFrom(
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> targetBuilder_;
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return Whether the target field is set.
+       */
+      public boolean hasTarget() {
+        return targetBuilder_ != null || target_ != null;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return The target.
+       */
+      public cmvr.api.MotorCommand.MotorTarget getTarget() {
+        if (targetBuilder_ == null) {
+          return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        } else {
+          return targetBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          target_ = value;
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(
+          cmvr.api.MotorCommand.MotorTarget.Builder builderForValue) {
+        if (targetBuilder_ == null) {
+          target_ = builderForValue.build();
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder mergeTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (target_ != null) {
+            target_ =
+              cmvr.api.MotorCommand.MotorTarget.newBuilder(target_).mergeFrom(value).buildPartial();
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+            target_ = value;
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+          onChanged();
+        } else {
+          targetBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder clearTarget() {
+        if (targetBuilder_ == null) {
+          target_ = null;
+          onChanged();
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTarget.Builder getTargetBuilder() {
+        
+        onChanged();
+        return getTargetFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+        if (targetBuilder_ != null) {
+          return targetBuilder_.getMessageOrBuilder();
+        } else {
+          return target_ == null ?
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+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> 
+          getTargetFieldBuilder() {
+        if (targetBuilder_ == null) {
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+                  getTarget(),
+                  getParentForChildren(),
+                  isClean());
+          target_ = null;
+        }
+        return targetBuilder_;
+      }
+
+      private boolean enabled_ ;
+      /**
+       * bool enabled = 2;
+       * @return The enabled.
+       */
+      @java.lang.Override
+      public boolean getEnabled() {
+        return enabled_;
+      }
+      /**
+       * bool enabled = 2;
+       * @param value The enabled to set.
+       * @return This builder for chaining.
+       */
+      public Builder setEnabled(boolean value) {
+        
+        enabled_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool enabled = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearEnabled() {
+        
+        enabled_ = false;
+        onChanged();
+        return this;
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+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.SetMotorEnabledRequest)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.SetMotorEnabledRequest)
+    private static final cmvr.api.MotorCommand.SetMotorEnabledRequest DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.SetMotorEnabledRequest();
+    }
+
+    public static cmvr.api.MotorCommand.SetMotorEnabledRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public SetMotorEnabledRequest parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
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+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
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+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.SetMotorEnabledRequest getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface CyclicStreamOpenOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.CyclicStreamOpen)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    boolean hasTarget();
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
+    cmvr.api.MotorCommand.MotorTarget getTarget();
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
+    cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder();
+
+    /**
+     * 
+     * The PLC/driver watchdog is authoritative. This service watchdog prevents a
+     * stalled gRPC client from retaining control indefinitely.
+     * 

+     *
+     * uint32 watchdog_timeout_ms = 2;
+     * @return The watchdogTimeoutMs.
+     */
+    int getWatchdogTimeoutMs();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.CyclicStreamOpen}
+   */
+  public static final class CyclicStreamOpen extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.CyclicStreamOpen)
+      CyclicStreamOpenOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use CyclicStreamOpen.newBuilder() to construct.
+    private CyclicStreamOpen(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
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+    private CyclicStreamOpen() {
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+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new CyclicStreamOpen();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicStreamOpen_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
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+    }
+
+    public static final int TARGET_FIELD_NUMBER = 1;
+    private cmvr.api.MotorCommand.MotorTarget target_;
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return Whether the target field is set.
+     */
+    @java.lang.Override
+    public boolean hasTarget() {
+      return target_ != null;
+    }
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     * @return The target.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTarget getTarget() {
+      return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+    }
+    /**
+     * .cmvr.api.MotorTarget target = 1;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+      return getTarget();
+    }
+
+    public static final int WATCHDOG_TIMEOUT_MS_FIELD_NUMBER = 2;
+    private int watchdogTimeoutMs_;
+    /**
+     * 
+     * The PLC/driver watchdog is authoritative. This service watchdog prevents a
+     * stalled gRPC client from retaining control indefinitely.
+     * 

+     *
+     * uint32 watchdog_timeout_ms = 2;
+     * @return The watchdogTimeoutMs.
+     */
+    @java.lang.Override
+    public int getWatchdogTimeoutMs() {
+      return watchdogTimeoutMs_;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
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+      memoizedIsInitialized = 1;
+      return true;
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+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (target_ != null) {
+        output.writeMessage(1, getTarget());
+      }
+      if (watchdogTimeoutMs_ != 0) {
+        output.writeUInt32(2, watchdogTimeoutMs_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
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+      size = 0;
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+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.CyclicStreamOpen)) {
+        return super.equals(obj);
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+      if (hasTarget() != other.hasTarget()) return false;
+      if (hasTarget()) {
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+      return true;
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+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
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+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasTarget()) {
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+    public static cmvr.api.MotorCommand.CyclicStreamOpen parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicStreamOpen parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.MotorCommand.CyclicStreamOpen parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicStreamOpen parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicStreamOpen parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicStreamOpen parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicStreamOpen parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.CyclicStreamOpen parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicStreamOpen parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.CyclicStreamOpen parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicStreamOpen parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.CyclicStreamOpen parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.CyclicStreamOpen prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.CyclicStreamOpen}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.CyclicStreamOpen)
+        cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicStreamOpen_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicStreamOpen_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.CyclicStreamOpen.class, cmvr.api.MotorCommand.CyclicStreamOpen.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.CyclicStreamOpen.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (targetBuilder_ == null) {
+          target_ = null;
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+        watchdogTimeoutMs_ = 0;
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicStreamOpen_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicStreamOpen getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicStreamOpen build() {
+        cmvr.api.MotorCommand.CyclicStreamOpen result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicStreamOpen buildPartial() {
+        cmvr.api.MotorCommand.CyclicStreamOpen result = new cmvr.api.MotorCommand.CyclicStreamOpen(this);
+        if (targetBuilder_ == null) {
+          result.target_ = target_;
+        } else {
+          result.target_ = targetBuilder_.build();
+        }
+        result.watchdogTimeoutMs_ = watchdogTimeoutMs_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.CyclicStreamOpen) {
+          return mergeFrom((cmvr.api.MotorCommand.CyclicStreamOpen)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.CyclicStreamOpen other) {
+        if (other == cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance()) return this;
+        if (other.hasTarget()) {
+          mergeTarget(other.getTarget());
+        }
+        if (other.getWatchdogTimeoutMs() != 0) {
+          setWatchdogTimeoutMs(other.getWatchdogTimeoutMs());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
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+          while (!done) {
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+            switch (tag) {
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+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
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+                    extensionRegistry);
+
+                break;
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+                break;
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+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private cmvr.api.MotorCommand.MotorTarget target_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> targetBuilder_;
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return Whether the target field is set.
+       */
+      public boolean hasTarget() {
+        return targetBuilder_ != null || target_ != null;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       * @return The target.
+       */
+      public cmvr.api.MotorCommand.MotorTarget getTarget() {
+        if (targetBuilder_ == null) {
+          return target_ == null ? cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        } else {
+          return targetBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          target_ = value;
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder setTarget(
+          cmvr.api.MotorCommand.MotorTarget.Builder builderForValue) {
+        if (targetBuilder_ == null) {
+          target_ = builderForValue.build();
+          onChanged();
+        } else {
+          targetBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder mergeTarget(cmvr.api.MotorCommand.MotorTarget value) {
+        if (targetBuilder_ == null) {
+          if (target_ != null) {
+            target_ =
+              cmvr.api.MotorCommand.MotorTarget.newBuilder(target_).mergeFrom(value).buildPartial();
+          } else {
+            target_ = value;
+          }
+          onChanged();
+        } else {
+          targetBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public Builder clearTarget() {
+        if (targetBuilder_ == null) {
+          target_ = null;
+          onChanged();
+        } else {
+          target_ = null;
+          targetBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTarget.Builder getTargetBuilder() {
+        
+        onChanged();
+        return getTargetFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      public cmvr.api.MotorCommand.MotorTargetOrBuilder getTargetOrBuilder() {
+        if (targetBuilder_ != null) {
+          return targetBuilder_.getMessageOrBuilder();
+        } else {
+          return target_ == null ?
+              cmvr.api.MotorCommand.MotorTarget.getDefaultInstance() : target_;
+        }
+      }
+      /**
+       * .cmvr.api.MotorTarget target = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder> 
+          getTargetFieldBuilder() {
+        if (targetBuilder_ == null) {
+          targetBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorTarget, cmvr.api.MotorCommand.MotorTarget.Builder, cmvr.api.MotorCommand.MotorTargetOrBuilder>(
+                  getTarget(),
+                  getParentForChildren(),
+                  isClean());
+          target_ = null;
+        }
+        return targetBuilder_;
+      }
+
+      private int watchdogTimeoutMs_ ;
+      /**
+       * 
+       * The PLC/driver watchdog is authoritative. This service watchdog prevents a
+       * stalled gRPC client from retaining control indefinitely.
+       * 

+       *
+       * uint32 watchdog_timeout_ms = 2;
+       * @return The watchdogTimeoutMs.
+       */
+      @java.lang.Override
+      public int getWatchdogTimeoutMs() {
+        return watchdogTimeoutMs_;
+      }
+      /**
+       * 
+       * The PLC/driver watchdog is authoritative. This service watchdog prevents a
+       * stalled gRPC client from retaining control indefinitely.
+       * 

+       *
+       * uint32 watchdog_timeout_ms = 2;
+       * @param value The watchdogTimeoutMs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setWatchdogTimeoutMs(int value) {
+        
+        watchdogTimeoutMs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * The PLC/driver watchdog is authoritative. This service watchdog prevents a
+       * stalled gRPC client from retaining control indefinitely.
+       * 

+       *
+       * uint32 watchdog_timeout_ms = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearWatchdogTimeoutMs() {
+        
+        watchdogTimeoutMs_ = 0;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.CyclicStreamOpen)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.CyclicStreamOpen)
+    private static final cmvr.api.MotorCommand.CyclicStreamOpen DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.CyclicStreamOpen();
+    }
+
+    public static cmvr.api.MotorCommand.CyclicStreamOpen getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public CyclicStreamOpen parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.CyclicStreamOpen getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface CyclicPositionSetpointOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.CyclicPositionSetpoint)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * uint64 sequence = 1;
+     * @return The sequence.
+     */
+    long getSequence();
+
+    /**
+     * double target_position_rad = 2;
+     * @return The targetPositionRad.
+     */
+    double getTargetPositionRad();
+
+    /**
+     * optional double target_velocity_rad_s = 3;
+     * @return Whether the targetVelocityRadS field is set.
+     */
+    boolean hasTargetVelocityRadS();
+    /**
+     * optional double target_velocity_rad_s = 3;
+     * @return The targetVelocityRadS.
+     */
+    double getTargetVelocityRadS();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.CyclicPositionSetpoint}
+   */
+  public static final class CyclicPositionSetpoint extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.CyclicPositionSetpoint)
+      CyclicPositionSetpointOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use CyclicPositionSetpoint.newBuilder() to construct.
+    private CyclicPositionSetpoint(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private CyclicPositionSetpoint() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new CyclicPositionSetpoint();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicPositionSetpoint_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicPositionSetpoint_fieldAccessorTable
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+
+    private int bitField0_;
+    public static final int SEQUENCE_FIELD_NUMBER = 1;
+    private long sequence_;
+    /**
+     * uint64 sequence = 1;
+     * @return The sequence.
+     */
+    @java.lang.Override
+    public long getSequence() {
+      return sequence_;
+    }
+
+    public static final int TARGET_POSITION_RAD_FIELD_NUMBER = 2;
+    private double targetPositionRad_;
+    /**
+     * double target_position_rad = 2;
+     * @return The targetPositionRad.
+     */
+    @java.lang.Override
+    public double getTargetPositionRad() {
+      return targetPositionRad_;
+    }
+
+    public static final int TARGET_VELOCITY_RAD_S_FIELD_NUMBER = 3;
+    private double targetVelocityRadS_;
+    /**
+     * optional double target_velocity_rad_s = 3;
+     * @return Whether the targetVelocityRadS field is set.
+     */
+    @java.lang.Override
+    public boolean hasTargetVelocityRadS() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * optional double target_velocity_rad_s = 3;
+     * @return The targetVelocityRadS.
+     */
+    @java.lang.Override
+    public double getTargetVelocityRadS() {
+      return targetVelocityRadS_;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
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+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (sequence_ != 0L) {
+        output.writeUInt64(1, sequence_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(targetPositionRad_) != 0) {
+        output.writeDouble(2, targetPositionRad_);
+      }
+      if (((bitField0_ & 0x00000001) != 0)) {
+        output.writeDouble(3, targetVelocityRadS_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (sequence_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt64Size(1, sequence_);
+      }
+      if (java.lang.Double.doubleToRawLongBits(targetPositionRad_) != 0) {
+        size += com.google.protobuf.CodedOutputStream
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+      if (((bitField0_ & 0x00000001) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeDoubleSize(3, targetVelocityRadS_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.CyclicPositionSetpoint)) {
+        return super.equals(obj);
+      }
+      cmvr.api.MotorCommand.CyclicPositionSetpoint other = (cmvr.api.MotorCommand.CyclicPositionSetpoint) obj;
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+      if (getSequence()
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
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+    public static cmvr.api.MotorCommand.CyclicPositionSetpoint parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicPositionSetpoint parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.MotorCommand.CyclicPositionSetpoint parseFrom(
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
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+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
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+    public static cmvr.api.MotorCommand.CyclicPositionSetpoint parseDelimitedFrom(
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
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+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
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+    public static cmvr.api.MotorCommand.CyclicPositionSetpoint parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
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+    public static cmvr.api.MotorCommand.CyclicPositionSetpoint parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
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+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
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+    public static Builder newBuilder(cmvr.api.MotorCommand.CyclicPositionSetpoint prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
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+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
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+    /**
+     * Protobuf type {@code cmvr.api.CyclicPositionSetpoint}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.CyclicPositionSetpoint)
+        cmvr.api.MotorCommand.CyclicPositionSetpointOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicPositionSetpoint_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
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+      // Construct using cmvr.api.MotorCommand.CyclicPositionSetpoint.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
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+      }
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+        targetPositionRad_ = 0D;
+
+        targetVelocityRadS_ = 0D;
+        bitField0_ = (bitField0_ & ~0x00000001);
+        return this;
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+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicPositionSetpoint_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicPositionSetpoint getDefaultInstanceForType() {
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+      public cmvr.api.MotorCommand.CyclicPositionSetpoint build() {
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+        if (!result.isInitialized()) {
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+        }
+        return result;
+      }
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+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicPositionSetpoint buildPartial() {
+        cmvr.api.MotorCommand.CyclicPositionSetpoint result = new cmvr.api.MotorCommand.CyclicPositionSetpoint(this);
+        int from_bitField0_ = bitField0_;
+        int to_bitField0_ = 0;
+        result.sequence_ = sequence_;
+        result.targetPositionRad_ = targetPositionRad_;
+        if (((from_bitField0_ & 0x00000001) != 0)) {
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+          to_bitField0_ |= 0x00000001;
+        }
+        result.bitField0_ = to_bitField0_;
+        onBuilt();
+        return result;
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+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
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+      public Builder setField(
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+      @java.lang.Override
+      public Builder clearField(
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+        return super.clearField(field);
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+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
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+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
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+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
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+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.CyclicPositionSetpoint) {
+          return mergeFrom((cmvr.api.MotorCommand.CyclicPositionSetpoint)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.CyclicPositionSetpoint other) {
+        if (other == cmvr.api.MotorCommand.CyclicPositionSetpoint.getDefaultInstance()) return this;
+        if (other.getSequence() != 0L) {
+          setSequence(other.getSequence());
+        }
+        if (other.getTargetPositionRad() != 0D) {
+          setTargetPositionRad(other.getTargetPositionRad());
+        }
+        if (other.hasTargetVelocityRadS()) {
+          setTargetVelocityRadS(other.getTargetVelocityRadS());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
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+                break;
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+              case 17: {
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+                break;
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+      private long sequence_ ;
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+      public long getSequence() {
+        return sequence_;
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+      /**
+       * uint64 sequence = 1;
+       * @param value The sequence to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSequence(long value) {
+        
+        sequence_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 sequence = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearSequence() {
+        
+        sequence_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private double targetPositionRad_ ;
+      /**
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+       * @return The targetPositionRad.
+       */
+      @java.lang.Override
+      public double getTargetPositionRad() {
+        return targetPositionRad_;
+      }
+      /**
+       * double target_position_rad = 2;
+       * @param value The targetPositionRad to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTargetPositionRad(double value) {
+        
+        targetPositionRad_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * double target_position_rad = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearTargetPositionRad() {
+        
+        targetPositionRad_ = 0D;
+        onChanged();
+        return this;
+      }
+
+      private double targetVelocityRadS_ ;
+      /**
+       * optional double target_velocity_rad_s = 3;
+       * @return Whether the targetVelocityRadS field is set.
+       */
+      @java.lang.Override
+      public boolean hasTargetVelocityRadS() {
+        return ((bitField0_ & 0x00000001) != 0);
+      }
+      /**
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+       * @return The targetVelocityRadS.
+       */
+      @java.lang.Override
+      public double getTargetVelocityRadS() {
+        return targetVelocityRadS_;
+      }
+      /**
+       * optional double target_velocity_rad_s = 3;
+       * @param value The targetVelocityRadS to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTargetVelocityRadS(double value) {
+        bitField0_ |= 0x00000001;
+        targetVelocityRadS_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * optional double target_velocity_rad_s = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearTargetVelocityRadS() {
+        bitField0_ = (bitField0_ & ~0x00000001);
+        targetVelocityRadS_ = 0D;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.CyclicPositionSetpoint)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.CyclicPositionSetpoint)
+    private static final cmvr.api.MotorCommand.CyclicPositionSetpoint DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.CyclicPositionSetpoint();
+    }
+
+    public static cmvr.api.MotorCommand.CyclicPositionSetpoint getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public CyclicPositionSetpoint parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.CyclicPositionSetpoint getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
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+      // @@protoc_insertion_point(interface_extends:cmvr.api.CyclicVelocitySetpoint)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
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+     * @return The sequence.
+     */
+    long getSequence();
+
+    /**
+     * double target_velocity_rad_s = 2;
+     * @return The targetVelocityRadS.
+     */
+    double getTargetVelocityRadS();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.CyclicVelocitySetpoint}
+   */
+  public static final class CyclicVelocitySetpoint extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.CyclicVelocitySetpoint)
+      CyclicVelocitySetpointOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use CyclicVelocitySetpoint.newBuilder() to construct.
+    private CyclicVelocitySetpoint(com.google.protobuf.GeneratedMessageV3.Builder builder) {
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+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new CyclicVelocitySetpoint();
+    }
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+    @java.lang.Override
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+    }
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+    public static final int TARGET_VELOCITY_RAD_S_FIELD_NUMBER = 2;
+    private double targetVelocityRadS_;
+    /**
+     * double target_velocity_rad_s = 2;
+     * @return The targetVelocityRadS.
+     */
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+    public double getTargetVelocityRadS() {
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+    }
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+      size = 0;
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+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
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+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.CyclicVelocitySetpoint)) {
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+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
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+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
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+    public static cmvr.api.MotorCommand.CyclicVelocitySetpoint parseFrom(
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+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
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+    public static cmvr.api.MotorCommand.CyclicVelocitySetpoint parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.MotorCommand.CyclicVelocitySetpoint parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocitySetpoint parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocitySetpoint parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocitySetpoint parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
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+    public static cmvr.api.MotorCommand.CyclicVelocitySetpoint parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocitySetpoint parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
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+        throws java.io.IOException {
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+          .parseWithIOException(PARSER, input);
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+    public static cmvr.api.MotorCommand.CyclicVelocitySetpoint parseFrom(
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
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+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
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+    public static Builder newBuilder(cmvr.api.MotorCommand.CyclicVelocitySetpoint prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
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+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
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+    /**
+     * Protobuf type {@code cmvr.api.CyclicVelocitySetpoint}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.CyclicVelocitySetpoint)
+        cmvr.api.MotorCommand.CyclicVelocitySetpointOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicVelocitySetpoint_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
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+
+      // Construct using cmvr.api.MotorCommand.CyclicVelocitySetpoint.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
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+        sequence_ = 0L;
+
+        targetVelocityRadS_ = 0D;
+
+        return this;
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+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicVelocitySetpoint_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicVelocitySetpoint getDefaultInstanceForType() {
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+      public cmvr.api.MotorCommand.CyclicVelocitySetpoint build() {
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+        if (!result.isInitialized()) {
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+        return result;
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+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicVelocitySetpoint buildPartial() {
+        cmvr.api.MotorCommand.CyclicVelocitySetpoint result = new cmvr.api.MotorCommand.CyclicVelocitySetpoint(this);
+        result.sequence_ = sequence_;
+        result.targetVelocityRadS_ = targetVelocityRadS_;
+        onBuilt();
+        return result;
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+      @java.lang.Override
+      public Builder clone() {
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+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
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+      public Builder clearField(
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+      public Builder clearOneof(
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+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.CyclicVelocitySetpoint) {
+          return mergeFrom((cmvr.api.MotorCommand.CyclicVelocitySetpoint)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.CyclicVelocitySetpoint other) {
+        if (other == cmvr.api.MotorCommand.CyclicVelocitySetpoint.getDefaultInstance()) return this;
+        if (other.getSequence() != 0L) {
+          setSequence(other.getSequence());
+        }
+        if (other.getTargetVelocityRadS() != 0D) {
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+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
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+        try {
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+            switch (tag) {
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+              case 8: {
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+                targetVelocityRadS_ = input.readDouble();
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+        return this;
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+      /**
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+      public long getSequence() {
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+      /**
+       * uint64 sequence = 1;
+       * @param value The sequence to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSequence(long value) {
+        
+        sequence_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 sequence = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearSequence() {
+        
+        sequence_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private double targetVelocityRadS_ ;
+      /**
+       * double target_velocity_rad_s = 2;
+       * @return The targetVelocityRadS.
+       */
+      @java.lang.Override
+      public double getTargetVelocityRadS() {
+        return targetVelocityRadS_;
+      }
+      /**
+       * double target_velocity_rad_s = 2;
+       * @param value The targetVelocityRadS to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTargetVelocityRadS(double value) {
+        
+        targetVelocityRadS_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * double target_velocity_rad_s = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearTargetVelocityRadS() {
+        
+        targetVelocityRadS_ = 0D;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.CyclicVelocitySetpoint)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.CyclicVelocitySetpoint)
+    private static final cmvr.api.MotorCommand.CyclicVelocitySetpoint DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.CyclicVelocitySetpoint();
+    }
+
+    public static cmvr.api.MotorCommand.CyclicVelocitySetpoint getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public CyclicVelocitySetpoint parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
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+        } catch (java.io.IOException e) {
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+              .setUnfinishedMessage(builder.buildPartial());
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+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.CyclicVelocitySetpoint getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
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+      // @@protoc_insertion_point(interface_extends:cmvr.api.CyclicPositionRequest)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.CyclicStreamOpen open = 1;
+     * @return Whether the open field is set.
+     */
+    boolean hasOpen();
+    /**
+     * .cmvr.api.CyclicStreamOpen open = 1;
+     * @return The open.
+     */
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+    /**
+     * .cmvr.api.CyclicStreamOpen open = 1;
+     */
+    cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder getOpenOrBuilder();
+
+    /**
+     * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+     * @return Whether the setpoint field is set.
+     */
+    boolean hasSetpoint();
+    /**
+     * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+     * @return The setpoint.
+     */
+    cmvr.api.MotorCommand.CyclicPositionSetpoint getSetpoint();
+    /**
+     * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+     */
+    cmvr.api.MotorCommand.CyclicPositionSetpointOrBuilder getSetpointOrBuilder();
+
+    public cmvr.api.MotorCommand.CyclicPositionRequest.PayloadCase getPayloadCase();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.CyclicPositionRequest}
+   */
+  public static final class CyclicPositionRequest extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.CyclicPositionRequest)
+      CyclicPositionRequestOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use CyclicPositionRequest.newBuilder() to construct.
+    private CyclicPositionRequest(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private CyclicPositionRequest() {
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+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
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+      return new CyclicPositionRequest();
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+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
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+    public static final com.google.protobuf.Descriptors.Descriptor
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+    }
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+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
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+      private PayloadCase(int value) {
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+      /**
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+       * @return The enum associated with the given number.
+       * @deprecated Use {@link #forNumber(int)} instead.
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+      public static PayloadCase valueOf(int value) {
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+      public static PayloadCase forNumber(int value) {
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+     * @return Whether the open field is set.
+     */
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+    public boolean hasOpen() {
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+    }
+    /**
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+     * @return The open.
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+    public cmvr.api.MotorCommand.CyclicStreamOpen getOpen() {
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+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder getOpenOrBuilder() {
+      if (payloadCase_ == 1) {
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+      return cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance();
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+    public static final int SETPOINT_FIELD_NUMBER = 2;
+    /**
+     * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+     * @return Whether the setpoint field is set.
+     */
+    @java.lang.Override
+    public boolean hasSetpoint() {
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+    }
+    /**
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+     * @return The setpoint.
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+    public cmvr.api.MotorCommand.CyclicPositionSetpoint getSetpoint() {
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+    @java.lang.Override
+    public cmvr.api.MotorCommand.CyclicPositionSetpointOrBuilder getSetpointOrBuilder() {
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+    @java.lang.Override
+    public int getSerializedSize() {
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+      size = 0;
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+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.CyclicPositionRequest)) {
+        return super.equals(obj);
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+      cmvr.api.MotorCommand.CyclicPositionRequest other = (cmvr.api.MotorCommand.CyclicPositionRequest) obj;
+
+      if (!getPayloadCase().equals(other.getPayloadCase())) return false;
+      switch (payloadCase_) {
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+          break;
+        case 2:
+          if (!getSetpoint()
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+          break;
+        case 0:
+        default:
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
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+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
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+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      switch (payloadCase_) {
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+          hash = (37 * hash) + OPEN_FIELD_NUMBER;
+          hash = (53 * hash) + getOpen().hashCode();
+          break;
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+          hash = (53 * hash) + getSetpoint().hashCode();
+          break;
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+        default:
+      }
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+      memoizedHashCode = hash;
+      return hash;
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+    public static cmvr.api.MotorCommand.CyclicPositionRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicPositionRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicPositionRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicPositionRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicPositionRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicPositionRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicPositionRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.CyclicPositionRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicPositionRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
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+    public static cmvr.api.MotorCommand.CyclicPositionRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
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+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
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+    public static Builder newBuilder(cmvr.api.MotorCommand.CyclicPositionRequest prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.CyclicPositionRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.CyclicPositionRequest)
+        cmvr.api.MotorCommand.CyclicPositionRequestOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicPositionRequest_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicPositionRequest_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.CyclicPositionRequest.class, cmvr.api.MotorCommand.CyclicPositionRequest.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.CyclicPositionRequest.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (openBuilder_ != null) {
+          openBuilder_.clear();
+        }
+        if (setpointBuilder_ != null) {
+          setpointBuilder_.clear();
+        }
+        payloadCase_ = 0;
+        payload_ = null;
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicPositionRequest_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicPositionRequest getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.CyclicPositionRequest.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicPositionRequest build() {
+        cmvr.api.MotorCommand.CyclicPositionRequest result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicPositionRequest buildPartial() {
+        cmvr.api.MotorCommand.CyclicPositionRequest result = new cmvr.api.MotorCommand.CyclicPositionRequest(this);
+        if (payloadCase_ == 1) {
+          if (openBuilder_ == null) {
+            result.payload_ = payload_;
+          } else {
+            result.payload_ = openBuilder_.build();
+          }
+        }
+        if (payloadCase_ == 2) {
+          if (setpointBuilder_ == null) {
+            result.payload_ = payload_;
+          } else {
+            result.payload_ = setpointBuilder_.build();
+          }
+        }
+        result.payloadCase_ = payloadCase_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.CyclicPositionRequest) {
+          return mergeFrom((cmvr.api.MotorCommand.CyclicPositionRequest)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.CyclicPositionRequest other) {
+        if (other == cmvr.api.MotorCommand.CyclicPositionRequest.getDefaultInstance()) return this;
+        switch (other.getPayloadCase()) {
+          case OPEN: {
+            mergeOpen(other.getOpen());
+            break;
+          }
+          case SETPOINT: {
+            mergeSetpoint(other.getSetpoint());
+            break;
+          }
+          case PAYLOAD_NOT_SET: {
+            break;
+          }
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
+                    getOpenFieldBuilder().getBuilder(),
+                    extensionRegistry);
+                payloadCase_ = 1;
+                break;
+              } // case 10
+              case 18: {
+                input.readMessage(
+                    getSetpointFieldBuilder().getBuilder(),
+                    extensionRegistry);
+                payloadCase_ = 2;
+                break;
+              } // case 18
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int payloadCase_ = 0;
+      private java.lang.Object payload_;
+      public PayloadCase
+          getPayloadCase() {
+        return PayloadCase.forNumber(
+            payloadCase_);
+      }
+
+      public Builder clearPayload() {
+        payloadCase_ = 0;
+        payload_ = null;
+        onChanged();
+        return this;
+      }
+
+
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.CyclicStreamOpen, cmvr.api.MotorCommand.CyclicStreamOpen.Builder, cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder> openBuilder_;
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       * @return Whether the open field is set.
+       */
+      @java.lang.Override
+      public boolean hasOpen() {
+        return payloadCase_ == 1;
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       * @return The open.
+       */
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicStreamOpen getOpen() {
+        if (openBuilder_ == null) {
+          if (payloadCase_ == 1) {
+            return (cmvr.api.MotorCommand.CyclicStreamOpen) payload_;
+          }
+          return cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance();
+        } else {
+          if (payloadCase_ == 1) {
+            return openBuilder_.getMessage();
+          }
+          return cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      public Builder setOpen(cmvr.api.MotorCommand.CyclicStreamOpen value) {
+        if (openBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          payload_ = value;
+          onChanged();
+        } else {
+          openBuilder_.setMessage(value);
+        }
+        payloadCase_ = 1;
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      public Builder setOpen(
+          cmvr.api.MotorCommand.CyclicStreamOpen.Builder builderForValue) {
+        if (openBuilder_ == null) {
+          payload_ = builderForValue.build();
+          onChanged();
+        } else {
+          openBuilder_.setMessage(builderForValue.build());
+        }
+        payloadCase_ = 1;
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      public Builder mergeOpen(cmvr.api.MotorCommand.CyclicStreamOpen value) {
+        if (openBuilder_ == null) {
+          if (payloadCase_ == 1 &&
+              payload_ != cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance()) {
+            payload_ = cmvr.api.MotorCommand.CyclicStreamOpen.newBuilder((cmvr.api.MotorCommand.CyclicStreamOpen) payload_)
+                .mergeFrom(value).buildPartial();
+          } else {
+            payload_ = value;
+          }
+          onChanged();
+        } else {
+          if (payloadCase_ == 1) {
+            openBuilder_.mergeFrom(value);
+          } else {
+            openBuilder_.setMessage(value);
+          }
+        }
+        payloadCase_ = 1;
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      public Builder clearOpen() {
+        if (openBuilder_ == null) {
+          if (payloadCase_ == 1) {
+            payloadCase_ = 0;
+            payload_ = null;
+            onChanged();
+          }
+        } else {
+          if (payloadCase_ == 1) {
+            payloadCase_ = 0;
+            payload_ = null;
+          }
+          openBuilder_.clear();
+        }
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      public cmvr.api.MotorCommand.CyclicStreamOpen.Builder getOpenBuilder() {
+        return getOpenFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder getOpenOrBuilder() {
+        if ((payloadCase_ == 1) && (openBuilder_ != null)) {
+          return openBuilder_.getMessageOrBuilder();
+        } else {
+          if (payloadCase_ == 1) {
+            return (cmvr.api.MotorCommand.CyclicStreamOpen) payload_;
+          }
+          return cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.CyclicStreamOpen, cmvr.api.MotorCommand.CyclicStreamOpen.Builder, cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder> 
+          getOpenFieldBuilder() {
+        if (openBuilder_ == null) {
+          if (!(payloadCase_ == 1)) {
+            payload_ = cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance();
+          }
+          openBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.CyclicStreamOpen, cmvr.api.MotorCommand.CyclicStreamOpen.Builder, cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder>(
+                  (cmvr.api.MotorCommand.CyclicStreamOpen) payload_,
+                  getParentForChildren(),
+                  isClean());
+          payload_ = null;
+        }
+        payloadCase_ = 1;
+        onChanged();;
+        return openBuilder_;
+      }
+
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.CyclicPositionSetpoint, cmvr.api.MotorCommand.CyclicPositionSetpoint.Builder, cmvr.api.MotorCommand.CyclicPositionSetpointOrBuilder> setpointBuilder_;
+      /**
+       * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+       * @return Whether the setpoint field is set.
+       */
+      @java.lang.Override
+      public boolean hasSetpoint() {
+        return payloadCase_ == 2;
+      }
+      /**
+       * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+       * @return The setpoint.
+       */
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicPositionSetpoint getSetpoint() {
+        if (setpointBuilder_ == null) {
+          if (payloadCase_ == 2) {
+            return (cmvr.api.MotorCommand.CyclicPositionSetpoint) payload_;
+          }
+          return cmvr.api.MotorCommand.CyclicPositionSetpoint.getDefaultInstance();
+        } else {
+          if (payloadCase_ == 2) {
+            return setpointBuilder_.getMessage();
+          }
+          return cmvr.api.MotorCommand.CyclicPositionSetpoint.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+       */
+      public Builder setSetpoint(cmvr.api.MotorCommand.CyclicPositionSetpoint value) {
+        if (setpointBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          payload_ = value;
+          onChanged();
+        } else {
+          setpointBuilder_.setMessage(value);
+        }
+        payloadCase_ = 2;
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+       */
+      public Builder setSetpoint(
+          cmvr.api.MotorCommand.CyclicPositionSetpoint.Builder builderForValue) {
+        if (setpointBuilder_ == null) {
+          payload_ = builderForValue.build();
+          onChanged();
+        } else {
+          setpointBuilder_.setMessage(builderForValue.build());
+        }
+        payloadCase_ = 2;
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+       */
+      public Builder mergeSetpoint(cmvr.api.MotorCommand.CyclicPositionSetpoint value) {
+        if (setpointBuilder_ == null) {
+          if (payloadCase_ == 2 &&
+              payload_ != cmvr.api.MotorCommand.CyclicPositionSetpoint.getDefaultInstance()) {
+            payload_ = cmvr.api.MotorCommand.CyclicPositionSetpoint.newBuilder((cmvr.api.MotorCommand.CyclicPositionSetpoint) payload_)
+                .mergeFrom(value).buildPartial();
+          } else {
+            payload_ = value;
+          }
+          onChanged();
+        } else {
+          if (payloadCase_ == 2) {
+            setpointBuilder_.mergeFrom(value);
+          } else {
+            setpointBuilder_.setMessage(value);
+          }
+        }
+        payloadCase_ = 2;
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+       */
+      public Builder clearSetpoint() {
+        if (setpointBuilder_ == null) {
+          if (payloadCase_ == 2) {
+            payloadCase_ = 0;
+            payload_ = null;
+            onChanged();
+          }
+        } else {
+          if (payloadCase_ == 2) {
+            payloadCase_ = 0;
+            payload_ = null;
+          }
+          setpointBuilder_.clear();
+        }
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+       */
+      public cmvr.api.MotorCommand.CyclicPositionSetpoint.Builder getSetpointBuilder() {
+        return getSetpointFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+       */
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicPositionSetpointOrBuilder getSetpointOrBuilder() {
+        if ((payloadCase_ == 2) && (setpointBuilder_ != null)) {
+          return setpointBuilder_.getMessageOrBuilder();
+        } else {
+          if (payloadCase_ == 2) {
+            return (cmvr.api.MotorCommand.CyclicPositionSetpoint) payload_;
+          }
+          return cmvr.api.MotorCommand.CyclicPositionSetpoint.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.CyclicPositionSetpoint setpoint = 2;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.CyclicPositionSetpoint, cmvr.api.MotorCommand.CyclicPositionSetpoint.Builder, cmvr.api.MotorCommand.CyclicPositionSetpointOrBuilder> 
+          getSetpointFieldBuilder() {
+        if (setpointBuilder_ == null) {
+          if (!(payloadCase_ == 2)) {
+            payload_ = cmvr.api.MotorCommand.CyclicPositionSetpoint.getDefaultInstance();
+          }
+          setpointBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.CyclicPositionSetpoint, cmvr.api.MotorCommand.CyclicPositionSetpoint.Builder, cmvr.api.MotorCommand.CyclicPositionSetpointOrBuilder>(
+                  (cmvr.api.MotorCommand.CyclicPositionSetpoint) payload_,
+                  getParentForChildren(),
+                  isClean());
+          payload_ = null;
+        }
+        payloadCase_ = 2;
+        onChanged();;
+        return setpointBuilder_;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.CyclicPositionRequest)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.CyclicPositionRequest)
+    private static final cmvr.api.MotorCommand.CyclicPositionRequest DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.CyclicPositionRequest();
+    }
+
+    public static cmvr.api.MotorCommand.CyclicPositionRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public CyclicPositionRequest parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.CyclicPositionRequest getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface CyclicVelocityRequestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.CyclicVelocityRequest)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.CyclicStreamOpen open = 1;
+     * @return Whether the open field is set.
+     */
+    boolean hasOpen();
+    /**
+     * .cmvr.api.CyclicStreamOpen open = 1;
+     * @return The open.
+     */
+    cmvr.api.MotorCommand.CyclicStreamOpen getOpen();
+    /**
+     * .cmvr.api.CyclicStreamOpen open = 1;
+     */
+    cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder getOpenOrBuilder();
+
+    /**
+     * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+     * @return Whether the setpoint field is set.
+     */
+    boolean hasSetpoint();
+    /**
+     * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+     * @return The setpoint.
+     */
+    cmvr.api.MotorCommand.CyclicVelocitySetpoint getSetpoint();
+    /**
+     * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+     */
+    cmvr.api.MotorCommand.CyclicVelocitySetpointOrBuilder getSetpointOrBuilder();
+
+    public cmvr.api.MotorCommand.CyclicVelocityRequest.PayloadCase getPayloadCase();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.CyclicVelocityRequest}
+   */
+  public static final class CyclicVelocityRequest extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.CyclicVelocityRequest)
+      CyclicVelocityRequestOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use CyclicVelocityRequest.newBuilder() to construct.
+    private CyclicVelocityRequest(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private CyclicVelocityRequest() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new CyclicVelocityRequest();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicVelocityRequest_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicVelocityRequest_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.MotorCommand.CyclicVelocityRequest.class, cmvr.api.MotorCommand.CyclicVelocityRequest.Builder.class);
+    }
+
+    private int payloadCase_ = 0;
+    private java.lang.Object payload_;
+    public enum PayloadCase
+        implements com.google.protobuf.Internal.EnumLite,
+            com.google.protobuf.AbstractMessage.InternalOneOfEnum {
+      OPEN(1),
+      SETPOINT(2),
+      PAYLOAD_NOT_SET(0);
+      private final int value;
+      private PayloadCase(int value) {
+        this.value = value;
+      }
+      /**
+       * @param value The number of the enum to look for.
+       * @return The enum associated with the given number.
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static PayloadCase valueOf(int value) {
+        return forNumber(value);
+      }
+
+      public static PayloadCase forNumber(int value) {
+        switch (value) {
+          case 1: return OPEN;
+          case 2: return SETPOINT;
+          case 0: return PAYLOAD_NOT_SET;
+          default: return null;
+        }
+      }
+      public int getNumber() {
+        return this.value;
+      }
+    };
+
+    public PayloadCase
+    getPayloadCase() {
+      return PayloadCase.forNumber(
+          payloadCase_);
+    }
+
+    public static final int OPEN_FIELD_NUMBER = 1;
+    /**
+     * .cmvr.api.CyclicStreamOpen open = 1;
+     * @return Whether the open field is set.
+     */
+    @java.lang.Override
+    public boolean hasOpen() {
+      return payloadCase_ == 1;
+    }
+    /**
+     * .cmvr.api.CyclicStreamOpen open = 1;
+     * @return The open.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.CyclicStreamOpen getOpen() {
+      if (payloadCase_ == 1) {
+         return (cmvr.api.MotorCommand.CyclicStreamOpen) payload_;
+      }
+      return cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance();
+    }
+    /**
+     * .cmvr.api.CyclicStreamOpen open = 1;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder getOpenOrBuilder() {
+      if (payloadCase_ == 1) {
+         return (cmvr.api.MotorCommand.CyclicStreamOpen) payload_;
+      }
+      return cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance();
+    }
+
+    public static final int SETPOINT_FIELD_NUMBER = 2;
+    /**
+     * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+     * @return Whether the setpoint field is set.
+     */
+    @java.lang.Override
+    public boolean hasSetpoint() {
+      return payloadCase_ == 2;
+    }
+    /**
+     * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+     * @return The setpoint.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.CyclicVelocitySetpoint getSetpoint() {
+      if (payloadCase_ == 2) {
+         return (cmvr.api.MotorCommand.CyclicVelocitySetpoint) payload_;
+      }
+      return cmvr.api.MotorCommand.CyclicVelocitySetpoint.getDefaultInstance();
+    }
+    /**
+     * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.CyclicVelocitySetpointOrBuilder getSetpointOrBuilder() {
+      if (payloadCase_ == 2) {
+         return (cmvr.api.MotorCommand.CyclicVelocitySetpoint) payload_;
+      }
+      return cmvr.api.MotorCommand.CyclicVelocitySetpoint.getDefaultInstance();
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (payloadCase_ == 1) {
+        output.writeMessage(1, (cmvr.api.MotorCommand.CyclicStreamOpen) payload_);
+      }
+      if (payloadCase_ == 2) {
+        output.writeMessage(2, (cmvr.api.MotorCommand.CyclicVelocitySetpoint) payload_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (payloadCase_ == 1) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(1, (cmvr.api.MotorCommand.CyclicStreamOpen) payload_);
+      }
+      if (payloadCase_ == 2) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(2, (cmvr.api.MotorCommand.CyclicVelocitySetpoint) payload_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.CyclicVelocityRequest)) {
+        return super.equals(obj);
+      }
+      cmvr.api.MotorCommand.CyclicVelocityRequest other = (cmvr.api.MotorCommand.CyclicVelocityRequest) obj;
+
+      if (!getPayloadCase().equals(other.getPayloadCase())) return false;
+      switch (payloadCase_) {
+        case 1:
+          if (!getOpen()
+              .equals(other.getOpen())) return false;
+          break;
+        case 2:
+          if (!getSetpoint()
+              .equals(other.getSetpoint())) return false;
+          break;
+        case 0:
+        default:
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      switch (payloadCase_) {
+        case 1:
+          hash = (37 * hash) + OPEN_FIELD_NUMBER;
+          hash = (53 * hash) + getOpen().hashCode();
+          break;
+        case 2:
+          hash = (37 * hash) + SETPOINT_FIELD_NUMBER;
+          hash = (53 * hash) + getSetpoint().hashCode();
+          break;
+        case 0:
+        default:
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.CyclicVelocityRequest prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.CyclicVelocityRequest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.CyclicVelocityRequest)
+        cmvr.api.MotorCommand.CyclicVelocityRequestOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicVelocityRequest_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicVelocityRequest_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.CyclicVelocityRequest.class, cmvr.api.MotorCommand.CyclicVelocityRequest.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.CyclicVelocityRequest.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (openBuilder_ != null) {
+          openBuilder_.clear();
+        }
+        if (setpointBuilder_ != null) {
+          setpointBuilder_.clear();
+        }
+        payloadCase_ = 0;
+        payload_ = null;
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicVelocityRequest_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicVelocityRequest getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.CyclicVelocityRequest.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicVelocityRequest build() {
+        cmvr.api.MotorCommand.CyclicVelocityRequest result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicVelocityRequest buildPartial() {
+        cmvr.api.MotorCommand.CyclicVelocityRequest result = new cmvr.api.MotorCommand.CyclicVelocityRequest(this);
+        if (payloadCase_ == 1) {
+          if (openBuilder_ == null) {
+            result.payload_ = payload_;
+          } else {
+            result.payload_ = openBuilder_.build();
+          }
+        }
+        if (payloadCase_ == 2) {
+          if (setpointBuilder_ == null) {
+            result.payload_ = payload_;
+          } else {
+            result.payload_ = setpointBuilder_.build();
+          }
+        }
+        result.payloadCase_ = payloadCase_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.CyclicVelocityRequest) {
+          return mergeFrom((cmvr.api.MotorCommand.CyclicVelocityRequest)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.CyclicVelocityRequest other) {
+        if (other == cmvr.api.MotorCommand.CyclicVelocityRequest.getDefaultInstance()) return this;
+        switch (other.getPayloadCase()) {
+          case OPEN: {
+            mergeOpen(other.getOpen());
+            break;
+          }
+          case SETPOINT: {
+            mergeSetpoint(other.getSetpoint());
+            break;
+          }
+          case PAYLOAD_NOT_SET: {
+            break;
+          }
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
+                    getOpenFieldBuilder().getBuilder(),
+                    extensionRegistry);
+                payloadCase_ = 1;
+                break;
+              } // case 10
+              case 18: {
+                input.readMessage(
+                    getSetpointFieldBuilder().getBuilder(),
+                    extensionRegistry);
+                payloadCase_ = 2;
+                break;
+              } // case 18
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int payloadCase_ = 0;
+      private java.lang.Object payload_;
+      public PayloadCase
+          getPayloadCase() {
+        return PayloadCase.forNumber(
+            payloadCase_);
+      }
+
+      public Builder clearPayload() {
+        payloadCase_ = 0;
+        payload_ = null;
+        onChanged();
+        return this;
+      }
+
+
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.CyclicStreamOpen, cmvr.api.MotorCommand.CyclicStreamOpen.Builder, cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder> openBuilder_;
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       * @return Whether the open field is set.
+       */
+      @java.lang.Override
+      public boolean hasOpen() {
+        return payloadCase_ == 1;
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       * @return The open.
+       */
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicStreamOpen getOpen() {
+        if (openBuilder_ == null) {
+          if (payloadCase_ == 1) {
+            return (cmvr.api.MotorCommand.CyclicStreamOpen) payload_;
+          }
+          return cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance();
+        } else {
+          if (payloadCase_ == 1) {
+            return openBuilder_.getMessage();
+          }
+          return cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      public Builder setOpen(cmvr.api.MotorCommand.CyclicStreamOpen value) {
+        if (openBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          payload_ = value;
+          onChanged();
+        } else {
+          openBuilder_.setMessage(value);
+        }
+        payloadCase_ = 1;
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      public Builder setOpen(
+          cmvr.api.MotorCommand.CyclicStreamOpen.Builder builderForValue) {
+        if (openBuilder_ == null) {
+          payload_ = builderForValue.build();
+          onChanged();
+        } else {
+          openBuilder_.setMessage(builderForValue.build());
+        }
+        payloadCase_ = 1;
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      public Builder mergeOpen(cmvr.api.MotorCommand.CyclicStreamOpen value) {
+        if (openBuilder_ == null) {
+          if (payloadCase_ == 1 &&
+              payload_ != cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance()) {
+            payload_ = cmvr.api.MotorCommand.CyclicStreamOpen.newBuilder((cmvr.api.MotorCommand.CyclicStreamOpen) payload_)
+                .mergeFrom(value).buildPartial();
+          } else {
+            payload_ = value;
+          }
+          onChanged();
+        } else {
+          if (payloadCase_ == 1) {
+            openBuilder_.mergeFrom(value);
+          } else {
+            openBuilder_.setMessage(value);
+          }
+        }
+        payloadCase_ = 1;
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      public Builder clearOpen() {
+        if (openBuilder_ == null) {
+          if (payloadCase_ == 1) {
+            payloadCase_ = 0;
+            payload_ = null;
+            onChanged();
+          }
+        } else {
+          if (payloadCase_ == 1) {
+            payloadCase_ = 0;
+            payload_ = null;
+          }
+          openBuilder_.clear();
+        }
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      public cmvr.api.MotorCommand.CyclicStreamOpen.Builder getOpenBuilder() {
+        return getOpenFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder getOpenOrBuilder() {
+        if ((payloadCase_ == 1) && (openBuilder_ != null)) {
+          return openBuilder_.getMessageOrBuilder();
+        } else {
+          if (payloadCase_ == 1) {
+            return (cmvr.api.MotorCommand.CyclicStreamOpen) payload_;
+          }
+          return cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.CyclicStreamOpen open = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.CyclicStreamOpen, cmvr.api.MotorCommand.CyclicStreamOpen.Builder, cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder> 
+          getOpenFieldBuilder() {
+        if (openBuilder_ == null) {
+          if (!(payloadCase_ == 1)) {
+            payload_ = cmvr.api.MotorCommand.CyclicStreamOpen.getDefaultInstance();
+          }
+          openBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.CyclicStreamOpen, cmvr.api.MotorCommand.CyclicStreamOpen.Builder, cmvr.api.MotorCommand.CyclicStreamOpenOrBuilder>(
+                  (cmvr.api.MotorCommand.CyclicStreamOpen) payload_,
+                  getParentForChildren(),
+                  isClean());
+          payload_ = null;
+        }
+        payloadCase_ = 1;
+        onChanged();;
+        return openBuilder_;
+      }
+
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.CyclicVelocitySetpoint, cmvr.api.MotorCommand.CyclicVelocitySetpoint.Builder, cmvr.api.MotorCommand.CyclicVelocitySetpointOrBuilder> setpointBuilder_;
+      /**
+       * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+       * @return Whether the setpoint field is set.
+       */
+      @java.lang.Override
+      public boolean hasSetpoint() {
+        return payloadCase_ == 2;
+      }
+      /**
+       * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+       * @return The setpoint.
+       */
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicVelocitySetpoint getSetpoint() {
+        if (setpointBuilder_ == null) {
+          if (payloadCase_ == 2) {
+            return (cmvr.api.MotorCommand.CyclicVelocitySetpoint) payload_;
+          }
+          return cmvr.api.MotorCommand.CyclicVelocitySetpoint.getDefaultInstance();
+        } else {
+          if (payloadCase_ == 2) {
+            return setpointBuilder_.getMessage();
+          }
+          return cmvr.api.MotorCommand.CyclicVelocitySetpoint.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+       */
+      public Builder setSetpoint(cmvr.api.MotorCommand.CyclicVelocitySetpoint value) {
+        if (setpointBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          payload_ = value;
+          onChanged();
+        } else {
+          setpointBuilder_.setMessage(value);
+        }
+        payloadCase_ = 2;
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+       */
+      public Builder setSetpoint(
+          cmvr.api.MotorCommand.CyclicVelocitySetpoint.Builder builderForValue) {
+        if (setpointBuilder_ == null) {
+          payload_ = builderForValue.build();
+          onChanged();
+        } else {
+          setpointBuilder_.setMessage(builderForValue.build());
+        }
+        payloadCase_ = 2;
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+       */
+      public Builder mergeSetpoint(cmvr.api.MotorCommand.CyclicVelocitySetpoint value) {
+        if (setpointBuilder_ == null) {
+          if (payloadCase_ == 2 &&
+              payload_ != cmvr.api.MotorCommand.CyclicVelocitySetpoint.getDefaultInstance()) {
+            payload_ = cmvr.api.MotorCommand.CyclicVelocitySetpoint.newBuilder((cmvr.api.MotorCommand.CyclicVelocitySetpoint) payload_)
+                .mergeFrom(value).buildPartial();
+          } else {
+            payload_ = value;
+          }
+          onChanged();
+        } else {
+          if (payloadCase_ == 2) {
+            setpointBuilder_.mergeFrom(value);
+          } else {
+            setpointBuilder_.setMessage(value);
+          }
+        }
+        payloadCase_ = 2;
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+       */
+      public Builder clearSetpoint() {
+        if (setpointBuilder_ == null) {
+          if (payloadCase_ == 2) {
+            payloadCase_ = 0;
+            payload_ = null;
+            onChanged();
+          }
+        } else {
+          if (payloadCase_ == 2) {
+            payloadCase_ = 0;
+            payload_ = null;
+          }
+          setpointBuilder_.clear();
+        }
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+       */
+      public cmvr.api.MotorCommand.CyclicVelocitySetpoint.Builder getSetpointBuilder() {
+        return getSetpointFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+       */
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicVelocitySetpointOrBuilder getSetpointOrBuilder() {
+        if ((payloadCase_ == 2) && (setpointBuilder_ != null)) {
+          return setpointBuilder_.getMessageOrBuilder();
+        } else {
+          if (payloadCase_ == 2) {
+            return (cmvr.api.MotorCommand.CyclicVelocitySetpoint) payload_;
+          }
+          return cmvr.api.MotorCommand.CyclicVelocitySetpoint.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.CyclicVelocitySetpoint setpoint = 2;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.CyclicVelocitySetpoint, cmvr.api.MotorCommand.CyclicVelocitySetpoint.Builder, cmvr.api.MotorCommand.CyclicVelocitySetpointOrBuilder> 
+          getSetpointFieldBuilder() {
+        if (setpointBuilder_ == null) {
+          if (!(payloadCase_ == 2)) {
+            payload_ = cmvr.api.MotorCommand.CyclicVelocitySetpoint.getDefaultInstance();
+          }
+          setpointBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.CyclicVelocitySetpoint, cmvr.api.MotorCommand.CyclicVelocitySetpoint.Builder, cmvr.api.MotorCommand.CyclicVelocitySetpointOrBuilder>(
+                  (cmvr.api.MotorCommand.CyclicVelocitySetpoint) payload_,
+                  getParentForChildren(),
+                  isClean());
+          payload_ = null;
+        }
+        payloadCase_ = 2;
+        onChanged();;
+        return setpointBuilder_;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.CyclicVelocityRequest)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.CyclicVelocityRequest)
+    private static final cmvr.api.MotorCommand.CyclicVelocityRequest DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.CyclicVelocityRequest();
+    }
+
+    public static cmvr.api.MotorCommand.CyclicVelocityRequest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public CyclicVelocityRequest parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.CyclicVelocityRequest getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface CyclicControlResponseOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.CyclicControlResponse)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     * @return Whether the header field is set.
+     */
+    boolean hasHeader();
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     * @return The header.
+     */
+    cmvr.api.Common.CommandHeader.Feedback getHeader();
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     */
+    cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
+
+    /**
+     * .cmvr.api.CyclicStreamPhase phase = 2;
+     * @return The enum numeric value on the wire for phase.
+     */
+    int getPhaseValue();
+    /**
+     * .cmvr.api.CyclicStreamPhase phase = 2;
+     * @return The phase.
+     */
+    cmvr.api.MotorCommand.CyclicStreamPhase getPhase();
+
+    /**
+     * uint64 sequence = 3;
+     * @return The sequence.
+     */
+    long getSequence();
+
+    /**
+     * uint64 dropped_setpoints = 4;
+     * @return The droppedSetpoints.
+     */
+    long getDroppedSetpoints();
+
+    /**
+     * 
+     * Present for OPENED and terminal responses. APPLIED deliberately omits
+     * live status so one cyclic sample does not trigger extra fieldbus reads.
+     * 

+     *
+     * .cmvr.api.MotorStatus status = 5;
+     * @return Whether the status field is set.
+     */
+    boolean hasStatus();
+    /**
+     * 
+     * Present for OPENED and terminal responses. APPLIED deliberately omits
+     * live status so one cyclic sample does not trigger extra fieldbus reads.
+     * 

+     *
+     * .cmvr.api.MotorStatus status = 5;
+     * @return The status.
+     */
+    cmvr.api.MotorCommand.MotorStatus getStatus();
+    /**
+     * 
+     * Present for OPENED and terminal responses. APPLIED deliberately omits
+     * live status so one cyclic sample does not trigger extra fieldbus reads.
+     * 

+     *
+     * .cmvr.api.MotorStatus status = 5;
+     */
+    cmvr.api.MotorCommand.MotorStatusOrBuilder getStatusOrBuilder();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.CyclicControlResponse}
+   */
+  public static final class CyclicControlResponse extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.CyclicControlResponse)
+      CyclicControlResponseOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use CyclicControlResponse.newBuilder() to construct.
+    private CyclicControlResponse(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private CyclicControlResponse() {
+      phase_ = 0;
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new CyclicControlResponse();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicControlResponse_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicControlResponse_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.MotorCommand.CyclicControlResponse.class, cmvr.api.MotorCommand.CyclicControlResponse.Builder.class);
+    }
+
+    public static final int HEADER_FIELD_NUMBER = 1;
+    private cmvr.api.Common.CommandHeader.Feedback header_;
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     * @return Whether the header field is set.
+     */
+    @java.lang.Override
+    public boolean hasHeader() {
+      return header_ != null;
+    }
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     * @return The header.
+     */
+    @java.lang.Override
+    public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+      return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+    }
+    /**
+     * .cmvr.api.CommandHeader.Feedback header = 1;
+     */
+    @java.lang.Override
+    public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+      return getHeader();
+    }
+
+    public static final int PHASE_FIELD_NUMBER = 2;
+    private int phase_;
+    /**
+     * .cmvr.api.CyclicStreamPhase phase = 2;
+     * @return The enum numeric value on the wire for phase.
+     */
+    @java.lang.Override public int getPhaseValue() {
+      return phase_;
+    }
+    /**
+     * .cmvr.api.CyclicStreamPhase phase = 2;
+     * @return The phase.
+     */
+    @java.lang.Override public cmvr.api.MotorCommand.CyclicStreamPhase getPhase() {
+      @SuppressWarnings("deprecation")
+      cmvr.api.MotorCommand.CyclicStreamPhase result = cmvr.api.MotorCommand.CyclicStreamPhase.valueOf(phase_);
+      return result == null ? cmvr.api.MotorCommand.CyclicStreamPhase.UNRECOGNIZED : result;
+    }
+
+    public static final int SEQUENCE_FIELD_NUMBER = 3;
+    private long sequence_;
+    /**
+     * uint64 sequence = 3;
+     * @return The sequence.
+     */
+    @java.lang.Override
+    public long getSequence() {
+      return sequence_;
+    }
+
+    public static final int DROPPED_SETPOINTS_FIELD_NUMBER = 4;
+    private long droppedSetpoints_;
+    /**
+     * uint64 dropped_setpoints = 4;
+     * @return The droppedSetpoints.
+     */
+    @java.lang.Override
+    public long getDroppedSetpoints() {
+      return droppedSetpoints_;
+    }
+
+    public static final int STATUS_FIELD_NUMBER = 5;
+    private cmvr.api.MotorCommand.MotorStatus status_;
+    /**
+     * 
+     * Present for OPENED and terminal responses. APPLIED deliberately omits
+     * live status so one cyclic sample does not trigger extra fieldbus reads.
+     * 

+     *
+     * .cmvr.api.MotorStatus status = 5;
+     * @return Whether the status field is set.
+     */
+    @java.lang.Override
+    public boolean hasStatus() {
+      return status_ != null;
+    }
+    /**
+     * 
+     * Present for OPENED and terminal responses. APPLIED deliberately omits
+     * live status so one cyclic sample does not trigger extra fieldbus reads.
+     * 

+     *
+     * .cmvr.api.MotorStatus status = 5;
+     * @return The status.
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorStatus getStatus() {
+      return status_ == null ? cmvr.api.MotorCommand.MotorStatus.getDefaultInstance() : status_;
+    }
+    /**
+     * 
+     * Present for OPENED and terminal responses. APPLIED deliberately omits
+     * live status so one cyclic sample does not trigger extra fieldbus reads.
+     * 

+     *
+     * .cmvr.api.MotorStatus status = 5;
+     */
+    @java.lang.Override
+    public cmvr.api.MotorCommand.MotorStatusOrBuilder getStatusOrBuilder() {
+      return getStatus();
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
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+      if (isInitialized == 1) return true;
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+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
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+      if (phase_ != cmvr.api.MotorCommand.CyclicStreamPhase.CYCLIC_STREAM_PHASE_UNSPECIFIED.getNumber()) {
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+      }
+      if (droppedSetpoints_ != 0L) {
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+      }
+      if (status_ != null) {
+        output.writeMessage(5, getStatus());
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
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+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.MotorCommand.CyclicControlResponse)) {
+        return super.equals(obj);
+      }
+      cmvr.api.MotorCommand.CyclicControlResponse other = (cmvr.api.MotorCommand.CyclicControlResponse) obj;
+
+      if (hasHeader() != other.hasHeader()) return false;
+      if (hasHeader()) {
+        if (!getHeader()
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+      }
+      if (phase_ != other.phase_) return false;
+      if (getSequence()
+          != other.getSequence()) return false;
+      if (getDroppedSetpoints()
+          != other.getDroppedSetpoints()) return false;
+      if (hasStatus() != other.hasStatus()) return false;
+      if (hasStatus()) {
+        if (!getStatus()
+            .equals(other.getStatus())) return false;
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasHeader()) {
+        hash = (37 * hash) + HEADER_FIELD_NUMBER;
+        hash = (53 * hash) + getHeader().hashCode();
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+      hash = (37 * hash) + PHASE_FIELD_NUMBER;
+      hash = (53 * hash) + phase_;
+      hash = (37 * hash) + SEQUENCE_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
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+      hash = (37 * hash) + DROPPED_SETPOINTS_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
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+      if (hasStatus()) {
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+        hash = (53 * hash) + getStatus().hashCode();
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.MotorCommand.CyclicControlResponse parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicControlResponse parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicControlResponse parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicControlResponse parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicControlResponse parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.MotorCommand.CyclicControlResponse parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicControlResponse parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.CyclicControlResponse parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicControlResponse parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.CyclicControlResponse parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.MotorCommand.CyclicControlResponse parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.MotorCommand.CyclicControlResponse parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.MotorCommand.CyclicControlResponse prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.CyclicControlResponse}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.CyclicControlResponse)
+        cmvr.api.MotorCommand.CyclicControlResponseOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicControlResponse_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicControlResponse_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.MotorCommand.CyclicControlResponse.class, cmvr.api.MotorCommand.CyclicControlResponse.Builder.class);
+      }
+
+      // Construct using cmvr.api.MotorCommand.CyclicControlResponse.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (headerBuilder_ == null) {
+          header_ = null;
+        } else {
+          header_ = null;
+          headerBuilder_ = null;
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+
+        sequence_ = 0L;
+
+        droppedSetpoints_ = 0L;
+
+        if (statusBuilder_ == null) {
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+          status_ = null;
+          statusBuilder_ = null;
+        }
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.MotorCommand.internal_static_cmvr_api_CyclicControlResponse_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicControlResponse getDefaultInstanceForType() {
+        return cmvr.api.MotorCommand.CyclicControlResponse.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicControlResponse build() {
+        cmvr.api.MotorCommand.CyclicControlResponse result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicControlResponse buildPartial() {
+        cmvr.api.MotorCommand.CyclicControlResponse result = new cmvr.api.MotorCommand.CyclicControlResponse(this);
+        if (headerBuilder_ == null) {
+          result.header_ = header_;
+        } else {
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+        }
+        result.phase_ = phase_;
+        result.sequence_ = sequence_;
+        result.droppedSetpoints_ = droppedSetpoints_;
+        if (statusBuilder_ == null) {
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+        } else {
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+        }
+        onBuilt();
+        return result;
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+
+      @java.lang.Override
+      public Builder clone() {
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+      @java.lang.Override
+      public Builder setField(
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+      @java.lang.Override
+      public Builder clearField(
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+        return super.clearField(field);
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+      @java.lang.Override
+      public Builder clearOneof(
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+      public Builder setRepeatedField(
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+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
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+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.MotorCommand.CyclicControlResponse) {
+          return mergeFrom((cmvr.api.MotorCommand.CyclicControlResponse)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.MotorCommand.CyclicControlResponse other) {
+        if (other == cmvr.api.MotorCommand.CyclicControlResponse.getDefaultInstance()) return this;
+        if (other.hasHeader()) {
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+        if (other.phase_ != 0) {
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+        if (other.getDroppedSetpoints() != 0L) {
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+        if (other.hasStatus()) {
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+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
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+
+      @java.lang.Override
+      public final boolean isInitialized() {
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+      @java.lang.Override
+      public Builder mergeFrom(
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+                break;
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+              case 32: {
+                droppedSetpoints_ = input.readUInt64();
+
+                break;
+              } // case 32
+              case 42: {
+                input.readMessage(
+                    getStatusFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 42
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private cmvr.api.Common.CommandHeader.Feedback header_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> headerBuilder_;
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       * @return Whether the header field is set.
+       */
+      public boolean hasHeader() {
+        return headerBuilder_ != null || header_ != null;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       * @return The header.
+       */
+      public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+        if (headerBuilder_ == null) {
+          return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+        } else {
+          return headerBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+        if (headerBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          header_ = value;
+          onChanged();
+        } else {
+          headerBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public Builder setHeader(
+          cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
+        if (headerBuilder_ == null) {
+          header_ = builderForValue.build();
+          onChanged();
+        } else {
+          headerBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+        if (headerBuilder_ == null) {
+          if (header_ != null) {
+            header_ =
+              cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
+          } else {
+            header_ = value;
+          }
+          onChanged();
+        } else {
+          headerBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public Builder clearHeader() {
+        if (headerBuilder_ == null) {
+          header_ = null;
+          onChanged();
+        } else {
+          header_ = null;
+          headerBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+        
+        onChanged();
+        return getHeaderFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+        if (headerBuilder_ != null) {
+          return headerBuilder_.getMessageOrBuilder();
+        } else {
+          return header_ == null ?
+              cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+        }
+      }
+      /**
+       * .cmvr.api.CommandHeader.Feedback header = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> 
+          getHeaderFieldBuilder() {
+        if (headerBuilder_ == null) {
+          headerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder>(
+                  getHeader(),
+                  getParentForChildren(),
+                  isClean());
+          header_ = null;
+        }
+        return headerBuilder_;
+      }
+
+      private int phase_ = 0;
+      /**
+       * .cmvr.api.CyclicStreamPhase phase = 2;
+       * @return The enum numeric value on the wire for phase.
+       */
+      @java.lang.Override public int getPhaseValue() {
+        return phase_;
+      }
+      /**
+       * .cmvr.api.CyclicStreamPhase phase = 2;
+       * @param value The enum numeric value on the wire for phase to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPhaseValue(int value) {
+        
+        phase_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicStreamPhase phase = 2;
+       * @return The phase.
+       */
+      @java.lang.Override
+      public cmvr.api.MotorCommand.CyclicStreamPhase getPhase() {
+        @SuppressWarnings("deprecation")
+        cmvr.api.MotorCommand.CyclicStreamPhase result = cmvr.api.MotorCommand.CyclicStreamPhase.valueOf(phase_);
+        return result == null ? cmvr.api.MotorCommand.CyclicStreamPhase.UNRECOGNIZED : result;
+      }
+      /**
+       * .cmvr.api.CyclicStreamPhase phase = 2;
+       * @param value The phase to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPhase(cmvr.api.MotorCommand.CyclicStreamPhase value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        
+        phase_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.api.CyclicStreamPhase phase = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearPhase() {
+        
+        phase_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private long sequence_ ;
+      /**
+       * uint64 sequence = 3;
+       * @return The sequence.
+       */
+      @java.lang.Override
+      public long getSequence() {
+        return sequence_;
+      }
+      /**
+       * uint64 sequence = 3;
+       * @param value The sequence to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSequence(long value) {
+        
+        sequence_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 sequence = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearSequence() {
+        
+        sequence_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private long droppedSetpoints_ ;
+      /**
+       * uint64 dropped_setpoints = 4;
+       * @return The droppedSetpoints.
+       */
+      @java.lang.Override
+      public long getDroppedSetpoints() {
+        return droppedSetpoints_;
+      }
+      /**
+       * uint64 dropped_setpoints = 4;
+       * @param value The droppedSetpoints to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDroppedSetpoints(long value) {
+        
+        droppedSetpoints_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 dropped_setpoints = 4;
+       * @return This builder for chaining.
+       */
+      public Builder clearDroppedSetpoints() {
+        
+        droppedSetpoints_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private cmvr.api.MotorCommand.MotorStatus status_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorStatus, cmvr.api.MotorCommand.MotorStatus.Builder, cmvr.api.MotorCommand.MotorStatusOrBuilder> statusBuilder_;
+      /**
+       * 
+       * Present for OPENED and terminal responses. APPLIED deliberately omits
+       * live status so one cyclic sample does not trigger extra fieldbus reads.
+       * 

+       *
+       * .cmvr.api.MotorStatus status = 5;
+       * @return Whether the status field is set.
+       */
+      public boolean hasStatus() {
+        return statusBuilder_ != null || status_ != null;
+      }
+      /**
+       * 
+       * Present for OPENED and terminal responses. APPLIED deliberately omits
+       * live status so one cyclic sample does not trigger extra fieldbus reads.
+       * 

+       *
+       * .cmvr.api.MotorStatus status = 5;
+       * @return The status.
+       */
+      public cmvr.api.MotorCommand.MotorStatus getStatus() {
+        if (statusBuilder_ == null) {
+          return status_ == null ? cmvr.api.MotorCommand.MotorStatus.getDefaultInstance() : status_;
+        } else {
+          return statusBuilder_.getMessage();
+        }
+      }
+      /**
+       * 
+       * Present for OPENED and terminal responses. APPLIED deliberately omits
+       * live status so one cyclic sample does not trigger extra fieldbus reads.
+       * 

+       *
+       * .cmvr.api.MotorStatus status = 5;
+       */
+      public Builder setStatus(cmvr.api.MotorCommand.MotorStatus value) {
+        if (statusBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          status_ = value;
+          onChanged();
+        } else {
+          statusBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * 
+       * Present for OPENED and terminal responses. APPLIED deliberately omits
+       * live status so one cyclic sample does not trigger extra fieldbus reads.
+       * 

+       *
+       * .cmvr.api.MotorStatus status = 5;
+       */
+      public Builder setStatus(
+          cmvr.api.MotorCommand.MotorStatus.Builder builderForValue) {
+        if (statusBuilder_ == null) {
+          status_ = builderForValue.build();
+          onChanged();
+        } else {
+          statusBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * 
+       * Present for OPENED and terminal responses. APPLIED deliberately omits
+       * live status so one cyclic sample does not trigger extra fieldbus reads.
+       * 

+       *
+       * .cmvr.api.MotorStatus status = 5;
+       */
+      public Builder mergeStatus(cmvr.api.MotorCommand.MotorStatus value) {
+        if (statusBuilder_ == null) {
+          if (status_ != null) {
+            status_ =
+              cmvr.api.MotorCommand.MotorStatus.newBuilder(status_).mergeFrom(value).buildPartial();
+          } else {
+            status_ = value;
+          }
+          onChanged();
+        } else {
+          statusBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * 
+       * Present for OPENED and terminal responses. APPLIED deliberately omits
+       * live status so one cyclic sample does not trigger extra fieldbus reads.
+       * 

+       *
+       * .cmvr.api.MotorStatus status = 5;
+       */
+      public Builder clearStatus() {
+        if (statusBuilder_ == null) {
+          status_ = null;
+          onChanged();
+        } else {
+          status_ = null;
+          statusBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * 
+       * Present for OPENED and terminal responses. APPLIED deliberately omits
+       * live status so one cyclic sample does not trigger extra fieldbus reads.
+       * 

+       *
+       * .cmvr.api.MotorStatus status = 5;
+       */
+      public cmvr.api.MotorCommand.MotorStatus.Builder getStatusBuilder() {
+        
+        onChanged();
+        return getStatusFieldBuilder().getBuilder();
+      }
+      /**
+       * 
+       * Present for OPENED and terminal responses. APPLIED deliberately omits
+       * live status so one cyclic sample does not trigger extra fieldbus reads.
+       * 

+       *
+       * .cmvr.api.MotorStatus status = 5;
+       */
+      public cmvr.api.MotorCommand.MotorStatusOrBuilder getStatusOrBuilder() {
+        if (statusBuilder_ != null) {
+          return statusBuilder_.getMessageOrBuilder();
+        } else {
+          return status_ == null ?
+              cmvr.api.MotorCommand.MotorStatus.getDefaultInstance() : status_;
+        }
+      }
+      /**
+       * 
+       * Present for OPENED and terminal responses. APPLIED deliberately omits
+       * live status so one cyclic sample does not trigger extra fieldbus reads.
+       * 

+       *
+       * .cmvr.api.MotorStatus status = 5;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.MotorCommand.MotorStatus, cmvr.api.MotorCommand.MotorStatus.Builder, cmvr.api.MotorCommand.MotorStatusOrBuilder> 
+          getStatusFieldBuilder() {
+        if (statusBuilder_ == null) {
+          statusBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.MotorCommand.MotorStatus, cmvr.api.MotorCommand.MotorStatus.Builder, cmvr.api.MotorCommand.MotorStatusOrBuilder>(
+                  getStatus(),
+                  getParentForChildren(),
+                  isClean());
+          status_ = null;
+        }
+        return statusBuilder_;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.CyclicControlResponse)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.CyclicControlResponse)
+    private static final cmvr.api.MotorCommand.CyclicControlResponse DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.MotorCommand.CyclicControlResponse();
+    }
+
+    public static cmvr.api.MotorCommand.CyclicControlResponse getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public CyclicControlResponse parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.MotorCommand.CyclicControlResponse getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_MotorTarget_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_MotorTarget_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_MotorWaitOptions_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_MotorWaitOptions_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_MotorStatus_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_MotorStatus_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_MotorCommandResponse_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_MotorCommandResponse_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_SetMotorZeroRequest_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_SetMotorZeroRequest_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_MoveMotorToZeroRequest_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_MoveMotorToZeroRequest_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_ProfilePositionRequest_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_ProfilePositionRequest_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_ProfileVelocityRequest_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_ProfileVelocityRequest_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_EmergencyStopRequest_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_EmergencyStopRequest_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_GetMotorStatusRequest_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_GetMotorStatusRequest_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_GetMotorStatusResponse_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_GetMotorStatusResponse_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_SetMotorEnabledRequest_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_SetMotorEnabledRequest_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_CyclicStreamOpen_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_CyclicStreamOpen_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_CyclicPositionSetpoint_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_CyclicPositionSetpoint_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_CyclicVelocitySetpoint_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_CyclicVelocitySetpoint_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_CyclicPositionRequest_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_CyclicPositionRequest_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_CyclicVelocityRequest_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_CyclicVelocityRequest_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_CyclicControlResponse_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_CyclicControlResponse_fieldAccessorTable;
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\034cmvr/api/motor_command.proto\022\010cmvr.api" +
+      "\032\025cmvr/api/common.proto\032\025cmvr/msgs/motor" +
+      ".proto\"t\n\013MotorTarget\022/\n\006header\030\001 \001(\0132\037." +
+      "cmvr.api.CommandHeader.Request\022\022\n\010motor_" +
+      "id\030\002 \001(\rH\000\022\024\n\njoint_name\030\003 \001(\tH\000B\n\n\010sele" +
+      "ctor\"\235\001\n\020MotorWaitOptions\022\022\n\ntimeout_ms\030" +
+      "\001 \001(\r\022\026\n\016poll_period_ms\030\002 \001(\r\022\036\n\026positio" +
+      "n_tolerance_rad\030\003 \001(\001\022 \n\030velocity_tolera" +
+      "nce_rad_s\030\004 \001(\001\022\033\n\023settle_sample_count\030\005" +
+      " \001(\r\"\230\002\n\013MotorStatus\022\020\n\010motor_id\030\001 \001(\r\022\022" +
+      "\n\njoint_name\030\002 \001(\t\022$\n\010run_mode\030\003 \001(\0162\022.c" +
+      "mvr.msgs.RunMode\022\024\n\014position_rad\030\004 \001(\001\022\026" +
+      "\n\016velocity_rad_s\030\005 \001(\001\022\026\n\016target_reached" +
+      "\030\006 \001(\010\022\024\n\014service_busy\030\007 \001(\010\0222\n\016active_c" +
+      "ontrol\030\010 \001(\0162\032.cmvr.api.MotorControlType" +
+      "\022\031\n\021emergency_stopped\030\t \001(\010\022\022\n\nlast_erro" +
+      "r\030\n \001(\t\"\203\001\n\024MotorCommandResponse\0220\n\006head" +
+      "er\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedba" +
+      "ck\022%\n\006status\030\002 \001(\0132\025.cmvr.api.MotorStatu" +
+      "s\022\022\n\nelapsed_ms\030\003 \001(\004\"<\n\023SetMotorZeroReq" +
+      "uest\022%\n\006target\030\001 \001(\0132\025.cmvr.api.MotorTar" +
+      "get\"\242\001\n\026MoveMotorToZeroRequest\022%\n\006target" +
+      "\030\001 \001(\0132\025.cmvr.api.MotorTarget\022\032\n\022max_vel" +
+      "ocity_rad_s\030\002 \001(\001\022\033\n\023acceleration_rad_s2" +
+      "\030\003 \001(\001\022(\n\004wait\030\004 \001(\0132\032.cmvr.api.MotorWai" +
+      "tOptions\"\277\001\n\026ProfilePositionRequest\022%\n\006t" +
+      "arget\030\001 \001(\0132\025.cmvr.api.MotorTarget\022\033\n\023ta" +
+      "rget_position_rad\030\002 \001(\001\022\032\n\022max_velocity_" +
+      "rad_s\030\003 \001(\001\022\033\n\023acceleration_rad_s2\030\004 \001(\001" +
+      "\022(\n\004wait\030\005 \001(\0132\032.cmvr.api.MotorWaitOptio" +
+      "ns\"\245\001\n\026ProfileVelocityRequest\022%\n\006target\030" +
+      "\001 \001(\0132\025.cmvr.api.MotorTarget\022\035\n\025target_v" +
+      "elocity_rad_s\030\002 \001(\001\022\033\n\023acceleration_rad_" +
+      "s2\030\003 \001(\001\022(\n\004wait\030\004 \001(\0132\032.cmvr.api.MotorW" +
+      "aitOptions\"=\n\024EmergencyStopRequest\022%\n\006ta" +
+      "rget\030\001 \001(\0132\025.cmvr.api.MotorTarget\">\n\025Get" +
+      "MotorStatusRequest\022%\n\006target\030\001 \001(\0132\025.cmv" +
+      "r.api.MotorTarget\"q\n\026GetMotorStatusRespo" +
+      "nse\0220\n\006header\030\001 \001(\0132 .cmvr.api.CommandHe" +
+      "ader.Feedback\022%\n\006status\030\002 \001(\0132\025.cmvr.api" +
+      ".MotorStatus\"P\n\026SetMotorEnabledRequest\022%" +
+      "\n\006target\030\001 \001(\0132\025.cmvr.api.MotorTarget\022\017\n" +
+      "\007enabled\030\002 \001(\010\"V\n\020CyclicStreamOpen\022%\n\006ta" +
+      "rget\030\001 \001(\0132\025.cmvr.api.MotorTarget\022\033\n\023wat" +
+      "chdog_timeout_ms\030\002 \001(\r\"\205\001\n\026CyclicPositio" +
+      "nSetpoint\022\020\n\010sequence\030\001 \001(\004\022\033\n\023target_po" +
+      "sition_rad\030\002 \001(\001\022\"\n\025target_velocity_rad_" +
+      "s\030\003 \001(\001H\000\210\001\001B\030\n\026_target_velocity_rad_s\"I" +
+      "\n\026CyclicVelocitySetpoint\022\020\n\010sequence\030\001 \001" +
+      "(\004\022\035\n\025target_velocity_rad_s\030\002 \001(\001\"\204\001\n\025Cy" +
+      "clicPositionRequest\022*\n\004open\030\001 \001(\0132\032.cmvr" +
+      ".api.CyclicStreamOpenH\000\0224\n\010setpoint\030\002 \001(" +
+      "\0132 .cmvr.api.CyclicPositionSetpointH\000B\t\n" +
+      "\007payload\"\204\001\n\025CyclicVelocityRequest\022*\n\004op" +
+      "en\030\001 \001(\0132\032.cmvr.api.CyclicStreamOpenH\000\0224" +
+      "\n\010setpoint\030\002 \001(\0132 .cmvr.api.CyclicVeloci" +
+      "tySetpointH\000B\t\n\007payload\"\311\001\n\025CyclicContro" +
+      "lResponse\0220\n\006header\030\001 \001(\0132 .cmvr.api.Com" +
+      "mandHeader.Feedback\022*\n\005phase\030\002 \001(\0162\033.cmv" +
+      "r.api.CyclicStreamPhase\022\020\n\010sequence\030\003 \001(" +
+      "\004\022\031\n\021dropped_setpoints\030\004 \001(\004\022%\n\006status\030\005" +
+      " \001(\0132\025.cmvr.api.MotorStatus*\363\001\n\020MotorCon" +
+      "trolType\022\026\n\022MOTOR_CONTROL_NONE\020\000\022\032\n\026MOTO" +
+      "R_CONTROL_SET_ZERO\020\001\022\"\n\036MOTOR_CONTROL_PR" +
+      "OFILE_POSITION\020\002\022\"\n\036MOTOR_CONTROL_PROFIL" +
+      "E_VELOCITY\020\003\022!\n\035MOTOR_CONTROL_CYCLIC_POS" +
+      "ITION\020\004\022!\n\035MOTOR_CONTROL_CYCLIC_VELOCITY" +
+      "\020\005\022\035\n\031MOTOR_CONTROL_SET_ENABLED\020\006*\306\001\n\021Cy" +
+      "clicStreamPhase\022#\n\037CYCLIC_STREAM_PHASE_U" +
+      "NSPECIFIED\020\000\022\030\n\024CYCLIC_STREAM_OPENED\020\001\022\031" +
+      "\n\025CYCLIC_STREAM_APPLIED\020\002\022\031\n\025CYCLIC_STRE" +
+      "AM_STOPPED\020\003\022\"\n\036CYCLIC_STREAM_WATCHDOG_E" +
+      "XPIRED\020\004\022\030\n\024CYCLIC_STREAM_FAILED\020\005b\006prot" +
+      "o3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+          cmvr.api.Common.getDescriptor(),
+          cmvr.msgs.Motor.getDescriptor(),
+        });
+    internal_static_cmvr_api_MotorTarget_descriptor =
+      getDescriptor().getMessageTypes().get(0);
+    internal_static_cmvr_api_MotorTarget_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_MotorTarget_descriptor,
+        new java.lang.String[] { "Header", "MotorId", "JointName", "Selector", });
+    internal_static_cmvr_api_MotorWaitOptions_descriptor =
+      getDescriptor().getMessageTypes().get(1);
+    internal_static_cmvr_api_MotorWaitOptions_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_MotorWaitOptions_descriptor,
+        new java.lang.String[] { "TimeoutMs", "PollPeriodMs", "PositionToleranceRad", "VelocityToleranceRadS", "SettleSampleCount", });
+    internal_static_cmvr_api_MotorStatus_descriptor =
+      getDescriptor().getMessageTypes().get(2);
+    internal_static_cmvr_api_MotorStatus_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_MotorStatus_descriptor,
+        new java.lang.String[] { "MotorId", "JointName", "RunMode", "PositionRad", "VelocityRadS", "TargetReached", "ServiceBusy", "ActiveControl", "EmergencyStopped", "LastError", });
+    internal_static_cmvr_api_MotorCommandResponse_descriptor =
+      getDescriptor().getMessageTypes().get(3);
+    internal_static_cmvr_api_MotorCommandResponse_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_MotorCommandResponse_descriptor,
+        new java.lang.String[] { "Header", "Status", "ElapsedMs", });
+    internal_static_cmvr_api_SetMotorZeroRequest_descriptor =
+      getDescriptor().getMessageTypes().get(4);
+    internal_static_cmvr_api_SetMotorZeroRequest_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_SetMotorZeroRequest_descriptor,
+        new java.lang.String[] { "Target", });
+    internal_static_cmvr_api_MoveMotorToZeroRequest_descriptor =
+      getDescriptor().getMessageTypes().get(5);
+    internal_static_cmvr_api_MoveMotorToZeroRequest_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_MoveMotorToZeroRequest_descriptor,
+        new java.lang.String[] { "Target", "MaxVelocityRadS", "AccelerationRadS2", "Wait", });
+    internal_static_cmvr_api_ProfilePositionRequest_descriptor =
+      getDescriptor().getMessageTypes().get(6);
+    internal_static_cmvr_api_ProfilePositionRequest_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_ProfilePositionRequest_descriptor,
+        new java.lang.String[] { "Target", "TargetPositionRad", "MaxVelocityRadS", "AccelerationRadS2", "Wait", });
+    internal_static_cmvr_api_ProfileVelocityRequest_descriptor =
+      getDescriptor().getMessageTypes().get(7);
+    internal_static_cmvr_api_ProfileVelocityRequest_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_ProfileVelocityRequest_descriptor,
+        new java.lang.String[] { "Target", "TargetVelocityRadS", "AccelerationRadS2", "Wait", });
+    internal_static_cmvr_api_EmergencyStopRequest_descriptor =
+      getDescriptor().getMessageTypes().get(8);
+    internal_static_cmvr_api_EmergencyStopRequest_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_EmergencyStopRequest_descriptor,
+        new java.lang.String[] { "Target", });
+    internal_static_cmvr_api_GetMotorStatusRequest_descriptor =
+      getDescriptor().getMessageTypes().get(9);
+    internal_static_cmvr_api_GetMotorStatusRequest_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_GetMotorStatusRequest_descriptor,
+        new java.lang.String[] { "Target", });
+    internal_static_cmvr_api_GetMotorStatusResponse_descriptor =
+      getDescriptor().getMessageTypes().get(10);
+    internal_static_cmvr_api_GetMotorStatusResponse_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_GetMotorStatusResponse_descriptor,
+        new java.lang.String[] { "Header", "Status", });
+    internal_static_cmvr_api_SetMotorEnabledRequest_descriptor =
+      getDescriptor().getMessageTypes().get(11);
+    internal_static_cmvr_api_SetMotorEnabledRequest_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_SetMotorEnabledRequest_descriptor,
+        new java.lang.String[] { "Target", "Enabled", });
+    internal_static_cmvr_api_CyclicStreamOpen_descriptor =
+      getDescriptor().getMessageTypes().get(12);
+    internal_static_cmvr_api_CyclicStreamOpen_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_CyclicStreamOpen_descriptor,
+        new java.lang.String[] { "Target", "WatchdogTimeoutMs", });
+    internal_static_cmvr_api_CyclicPositionSetpoint_descriptor =
+      getDescriptor().getMessageTypes().get(13);
+    internal_static_cmvr_api_CyclicPositionSetpoint_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_CyclicPositionSetpoint_descriptor,
+        new java.lang.String[] { "Sequence", "TargetPositionRad", "TargetVelocityRadS", "TargetVelocityRadS", });
+    internal_static_cmvr_api_CyclicVelocitySetpoint_descriptor =
+      getDescriptor().getMessageTypes().get(14);
+    internal_static_cmvr_api_CyclicVelocitySetpoint_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_CyclicVelocitySetpoint_descriptor,
+        new java.lang.String[] { "Sequence", "TargetVelocityRadS", });
+    internal_static_cmvr_api_CyclicPositionRequest_descriptor =
+      getDescriptor().getMessageTypes().get(15);
+    internal_static_cmvr_api_CyclicPositionRequest_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_CyclicPositionRequest_descriptor,
+        new java.lang.String[] { "Open", "Setpoint", "Payload", });
+    internal_static_cmvr_api_CyclicVelocityRequest_descriptor =
+      getDescriptor().getMessageTypes().get(16);
+    internal_static_cmvr_api_CyclicVelocityRequest_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_CyclicVelocityRequest_descriptor,
+        new java.lang.String[] { "Open", "Setpoint", "Payload", });
+    internal_static_cmvr_api_CyclicControlResponse_descriptor =
+      getDescriptor().getMessageTypes().get(17);
+    internal_static_cmvr_api_CyclicControlResponse_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_CyclicControlResponse_descriptor,
+        new java.lang.String[] { "Header", "Phase", "Sequence", "DroppedSetpoints", "Status", });
+    cmvr.api.Common.getDescriptor();
+    cmvr.msgs.Motor.getDescriptor();
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/MotorServiceGrpc.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/MotorServiceGrpc.java
new file mode 100644
index 0000000..2cbc016
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/MotorServiceGrpc.java
@@ -0,0 +1,836 @@
+package cmvr.api;
+
+import static io.grpc.MethodDescriptor.generateFullMethodName;
+
+/**
+ */
+@javax.annotation.Generated(
+    value = "by gRPC proto compiler (version 1.52.0)",
+    comments = "Source: cmvr/api/motor_service.proto")
+@io.grpc.stub.annotations.GrpcGenerated
+public final class MotorServiceGrpc {
+
+  private MotorServiceGrpc() {}
+
+  public static final String SERVICE_NAME = "cmvr.api.MotorService";
+
+  // Static method descriptors that strictly reflect the proto.
+  private static volatile io.grpc.MethodDescriptor getSetZeroMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "setZero",
+      requestType = cmvr.api.MotorCommand.SetMotorZeroRequest.class,
+      responseType = cmvr.api.MotorCommand.MotorCommandResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor getSetZeroMethod() {
+    io.grpc.MethodDescriptor getSetZeroMethod;
+    if ((getSetZeroMethod = MotorServiceGrpc.getSetZeroMethod) == null) {
+      synchronized (MotorServiceGrpc.class) {
+        if ((getSetZeroMethod = MotorServiceGrpc.getSetZeroMethod) == null) {
+          MotorServiceGrpc.getSetZeroMethod = getSetZeroMethod =
+              io.grpc.MethodDescriptor.newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "setZero"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.SetMotorZeroRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()))
+              .setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("setZero"))
+              .build();
+        }
+      }
+    }
+    return getSetZeroMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor getMoveToZeroMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "moveToZero",
+      requestType = cmvr.api.MotorCommand.MoveMotorToZeroRequest.class,
+      responseType = cmvr.api.MotorCommand.MotorCommandResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor getMoveToZeroMethod() {
+    io.grpc.MethodDescriptor getMoveToZeroMethod;
+    if ((getMoveToZeroMethod = MotorServiceGrpc.getMoveToZeroMethod) == null) {
+      synchronized (MotorServiceGrpc.class) {
+        if ((getMoveToZeroMethod = MotorServiceGrpc.getMoveToZeroMethod) == null) {
+          MotorServiceGrpc.getMoveToZeroMethod = getMoveToZeroMethod =
+              io.grpc.MethodDescriptor.newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "moveToZero"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.MoveMotorToZeroRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()))
+              .setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("moveToZero"))
+              .build();
+        }
+      }
+    }
+    return getMoveToZeroMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor getProfilePositionMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "profilePosition",
+      requestType = cmvr.api.MotorCommand.ProfilePositionRequest.class,
+      responseType = cmvr.api.MotorCommand.MotorCommandResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor getProfilePositionMethod() {
+    io.grpc.MethodDescriptor getProfilePositionMethod;
+    if ((getProfilePositionMethod = MotorServiceGrpc.getProfilePositionMethod) == null) {
+      synchronized (MotorServiceGrpc.class) {
+        if ((getProfilePositionMethod = MotorServiceGrpc.getProfilePositionMethod) == null) {
+          MotorServiceGrpc.getProfilePositionMethod = getProfilePositionMethod =
+              io.grpc.MethodDescriptor.newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "profilePosition"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.ProfilePositionRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()))
+              .setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("profilePosition"))
+              .build();
+        }
+      }
+    }
+    return getProfilePositionMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor getProfileVelocityMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "profileVelocity",
+      requestType = cmvr.api.MotorCommand.ProfileVelocityRequest.class,
+      responseType = cmvr.api.MotorCommand.MotorCommandResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor getProfileVelocityMethod() {
+    io.grpc.MethodDescriptor getProfileVelocityMethod;
+    if ((getProfileVelocityMethod = MotorServiceGrpc.getProfileVelocityMethod) == null) {
+      synchronized (MotorServiceGrpc.class) {
+        if ((getProfileVelocityMethod = MotorServiceGrpc.getProfileVelocityMethod) == null) {
+          MotorServiceGrpc.getProfileVelocityMethod = getProfileVelocityMethod =
+              io.grpc.MethodDescriptor.newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "profileVelocity"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.ProfileVelocityRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()))
+              .setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("profileVelocity"))
+              .build();
+        }
+      }
+    }
+    return getProfileVelocityMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor getStreamCyclicPositionMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "streamCyclicPosition",
+      requestType = cmvr.api.MotorCommand.CyclicPositionRequest.class,
+      responseType = cmvr.api.MotorCommand.CyclicControlResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
+  public static io.grpc.MethodDescriptor getStreamCyclicPositionMethod() {
+    io.grpc.MethodDescriptor getStreamCyclicPositionMethod;
+    if ((getStreamCyclicPositionMethod = MotorServiceGrpc.getStreamCyclicPositionMethod) == null) {
+      synchronized (MotorServiceGrpc.class) {
+        if ((getStreamCyclicPositionMethod = MotorServiceGrpc.getStreamCyclicPositionMethod) == null) {
+          MotorServiceGrpc.getStreamCyclicPositionMethod = getStreamCyclicPositionMethod =
+              io.grpc.MethodDescriptor.newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "streamCyclicPosition"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.CyclicPositionRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.CyclicControlResponse.getDefaultInstance()))
+              .setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("streamCyclicPosition"))
+              .build();
+        }
+      }
+    }
+    return getStreamCyclicPositionMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor getStreamCyclicVelocityMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "streamCyclicVelocity",
+      requestType = cmvr.api.MotorCommand.CyclicVelocityRequest.class,
+      responseType = cmvr.api.MotorCommand.CyclicControlResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
+  public static io.grpc.MethodDescriptor getStreamCyclicVelocityMethod() {
+    io.grpc.MethodDescriptor getStreamCyclicVelocityMethod;
+    if ((getStreamCyclicVelocityMethod = MotorServiceGrpc.getStreamCyclicVelocityMethod) == null) {
+      synchronized (MotorServiceGrpc.class) {
+        if ((getStreamCyclicVelocityMethod = MotorServiceGrpc.getStreamCyclicVelocityMethod) == null) {
+          MotorServiceGrpc.getStreamCyclicVelocityMethod = getStreamCyclicVelocityMethod =
+              io.grpc.MethodDescriptor.newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "streamCyclicVelocity"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.CyclicVelocityRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.CyclicControlResponse.getDefaultInstance()))
+              .setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("streamCyclicVelocity"))
+              .build();
+        }
+      }
+    }
+    return getStreamCyclicVelocityMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor getEmergencyStopMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "emergencyStop",
+      requestType = cmvr.api.MotorCommand.EmergencyStopRequest.class,
+      responseType = cmvr.api.MotorCommand.MotorCommandResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor getEmergencyStopMethod() {
+    io.grpc.MethodDescriptor getEmergencyStopMethod;
+    if ((getEmergencyStopMethod = MotorServiceGrpc.getEmergencyStopMethod) == null) {
+      synchronized (MotorServiceGrpc.class) {
+        if ((getEmergencyStopMethod = MotorServiceGrpc.getEmergencyStopMethod) == null) {
+          MotorServiceGrpc.getEmergencyStopMethod = getEmergencyStopMethod =
+              io.grpc.MethodDescriptor.newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "emergencyStop"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.EmergencyStopRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()))
+              .setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("emergencyStop"))
+              .build();
+        }
+      }
+    }
+    return getEmergencyStopMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor getGetStatusMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "getStatus",
+      requestType = cmvr.api.MotorCommand.GetMotorStatusRequest.class,
+      responseType = cmvr.api.MotorCommand.GetMotorStatusResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor getGetStatusMethod() {
+    io.grpc.MethodDescriptor getGetStatusMethod;
+    if ((getGetStatusMethod = MotorServiceGrpc.getGetStatusMethod) == null) {
+      synchronized (MotorServiceGrpc.class) {
+        if ((getGetStatusMethod = MotorServiceGrpc.getGetStatusMethod) == null) {
+          MotorServiceGrpc.getGetStatusMethod = getGetStatusMethod =
+              io.grpc.MethodDescriptor.newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "getStatus"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.GetMotorStatusRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.GetMotorStatusResponse.getDefaultInstance()))
+              .setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("getStatus"))
+              .build();
+        }
+      }
+    }
+    return getGetStatusMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor getSetEnabledMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "setEnabled",
+      requestType = cmvr.api.MotorCommand.SetMotorEnabledRequest.class,
+      responseType = cmvr.api.MotorCommand.MotorCommandResponse.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor getSetEnabledMethod() {
+    io.grpc.MethodDescriptor getSetEnabledMethod;
+    if ((getSetEnabledMethod = MotorServiceGrpc.getSetEnabledMethod) == null) {
+      synchronized (MotorServiceGrpc.class) {
+        if ((getSetEnabledMethod = MotorServiceGrpc.getSetEnabledMethod) == null) {
+          MotorServiceGrpc.getSetEnabledMethod = getSetEnabledMethod =
+              io.grpc.MethodDescriptor.newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "setEnabled"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.SetMotorEnabledRequest.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.MotorCommand.MotorCommandResponse.getDefaultInstance()))
+              .setSchemaDescriptor(new MotorServiceMethodDescriptorSupplier("setEnabled"))
+              .build();
+        }
+      }
+    }
+    return getSetEnabledMethod;
+  }
+
+  /**
+   * Creates a new async stub that supports all call types for the service
+   */
+  public static MotorServiceStub newStub(io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory factory =
+      new io.grpc.stub.AbstractStub.StubFactory() {
+        @java.lang.Override
+        public MotorServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new MotorServiceStub(channel, callOptions);
+        }
+      };
+    return MotorServiceStub.newStub(factory, channel);
+  }
+
+  /**
+   * Creates a new blocking-style stub that supports unary and streaming output calls on the service
+   */
+  public static MotorServiceBlockingStub newBlockingStub(
+      io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory factory =
+      new io.grpc.stub.AbstractStub.StubFactory() {
+        @java.lang.Override
+        public MotorServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new MotorServiceBlockingStub(channel, callOptions);
+        }
+      };
+    return MotorServiceBlockingStub.newStub(factory, channel);
+  }
+
+  /**
+   * Creates a new ListenableFuture-style stub that supports unary calls on the service
+   */
+  public static MotorServiceFutureStub newFutureStub(
+      io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory factory =
+      new io.grpc.stub.AbstractStub.StubFactory() {
+        @java.lang.Override
+        public MotorServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new MotorServiceFutureStub(channel, callOptions);
+        }
+      };
+    return MotorServiceFutureStub.newStub(factory, channel);
+  }
+
+  /**
+   */
+  public static abstract class MotorServiceImplBase implements io.grpc.BindableService {
+
+    /**
+     */
+    public void setZero(cmvr.api.MotorCommand.SetMotorZeroRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSetZeroMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void moveToZero(cmvr.api.MotorCommand.MoveMotorToZeroRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getMoveToZeroMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void profilePosition(cmvr.api.MotorCommand.ProfilePositionRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getProfilePositionMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void profileVelocity(cmvr.api.MotorCommand.ProfileVelocityRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getProfileVelocityMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public io.grpc.stub.StreamObserver streamCyclicPosition(
+        io.grpc.stub.StreamObserver responseObserver) {
+      return io.grpc.stub.ServerCalls.asyncUnimplementedStreamingCall(getStreamCyclicPositionMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public io.grpc.stub.StreamObserver streamCyclicVelocity(
+        io.grpc.stub.StreamObserver responseObserver) {
+      return io.grpc.stub.ServerCalls.asyncUnimplementedStreamingCall(getStreamCyclicVelocityMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void emergencyStop(cmvr.api.MotorCommand.EmergencyStopRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getEmergencyStopMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void getStatus(cmvr.api.MotorCommand.GetMotorStatusRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getGetStatusMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void setEnabled(cmvr.api.MotorCommand.SetMotorEnabledRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSetEnabledMethod(), responseObserver);
+    }
+
+    @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
+      return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
+          .addMethod(
+            getSetZeroMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.MotorCommand.SetMotorZeroRequest,
+                cmvr.api.MotorCommand.MotorCommandResponse>(
+                  this, METHODID_SET_ZERO)))
+          .addMethod(
+            getMoveToZeroMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.MotorCommand.MoveMotorToZeroRequest,
+                cmvr.api.MotorCommand.MotorCommandResponse>(
+                  this, METHODID_MOVE_TO_ZERO)))
+          .addMethod(
+            getProfilePositionMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.MotorCommand.ProfilePositionRequest,
+                cmvr.api.MotorCommand.MotorCommandResponse>(
+                  this, METHODID_PROFILE_POSITION)))
+          .addMethod(
+            getProfileVelocityMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.MotorCommand.ProfileVelocityRequest,
+                cmvr.api.MotorCommand.MotorCommandResponse>(
+                  this, METHODID_PROFILE_VELOCITY)))
+          .addMethod(
+            getStreamCyclicPositionMethod(),
+            io.grpc.stub.ServerCalls.asyncBidiStreamingCall(
+              new MethodHandlers<
+                cmvr.api.MotorCommand.CyclicPositionRequest,
+                cmvr.api.MotorCommand.CyclicControlResponse>(
+                  this, METHODID_STREAM_CYCLIC_POSITION)))
+          .addMethod(
+            getStreamCyclicVelocityMethod(),
+            io.grpc.stub.ServerCalls.asyncBidiStreamingCall(
+              new MethodHandlers<
+                cmvr.api.MotorCommand.CyclicVelocityRequest,
+                cmvr.api.MotorCommand.CyclicControlResponse>(
+                  this, METHODID_STREAM_CYCLIC_VELOCITY)))
+          .addMethod(
+            getEmergencyStopMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.MotorCommand.EmergencyStopRequest,
+                cmvr.api.MotorCommand.MotorCommandResponse>(
+                  this, METHODID_EMERGENCY_STOP)))
+          .addMethod(
+            getGetStatusMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.MotorCommand.GetMotorStatusRequest,
+                cmvr.api.MotorCommand.GetMotorStatusResponse>(
+                  this, METHODID_GET_STATUS)))
+          .addMethod(
+            getSetEnabledMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.MotorCommand.SetMotorEnabledRequest,
+                cmvr.api.MotorCommand.MotorCommandResponse>(
+                  this, METHODID_SET_ENABLED)))
+          .build();
+    }
+  }
+
+  /**
+   */
+  public static final class MotorServiceStub extends io.grpc.stub.AbstractAsyncStub {
+    private MotorServiceStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected MotorServiceStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new MotorServiceStub(channel, callOptions);
+    }
+
+    /**
+     */
+    public void setZero(cmvr.api.MotorCommand.SetMotorZeroRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getSetZeroMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void moveToZero(cmvr.api.MotorCommand.MoveMotorToZeroRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getMoveToZeroMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void profilePosition(cmvr.api.MotorCommand.ProfilePositionRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getProfilePositionMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void profileVelocity(cmvr.api.MotorCommand.ProfileVelocityRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getProfileVelocityMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public io.grpc.stub.StreamObserver streamCyclicPosition(
+        io.grpc.stub.StreamObserver responseObserver) {
+      return io.grpc.stub.ClientCalls.asyncBidiStreamingCall(
+          getChannel().newCall(getStreamCyclicPositionMethod(), getCallOptions()), responseObserver);
+    }
+
+    /**
+     */
+    public io.grpc.stub.StreamObserver streamCyclicVelocity(
+        io.grpc.stub.StreamObserver responseObserver) {
+      return io.grpc.stub.ClientCalls.asyncBidiStreamingCall(
+          getChannel().newCall(getStreamCyclicVelocityMethod(), getCallOptions()), responseObserver);
+    }
+
+    /**
+     */
+    public void emergencyStop(cmvr.api.MotorCommand.EmergencyStopRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getEmergencyStopMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void getStatus(cmvr.api.MotorCommand.GetMotorStatusRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void setEnabled(cmvr.api.MotorCommand.SetMotorEnabledRequest request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getSetEnabledMethod(), getCallOptions()), request, responseObserver);
+    }
+  }
+
+  /**
+   */
+  public static final class MotorServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub {
+    private MotorServiceBlockingStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected MotorServiceBlockingStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new MotorServiceBlockingStub(channel, callOptions);
+    }
+
+    /**
+     */
+    public cmvr.api.MotorCommand.MotorCommandResponse setZero(cmvr.api.MotorCommand.SetMotorZeroRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getSetZeroMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.MotorCommand.MotorCommandResponse moveToZero(cmvr.api.MotorCommand.MoveMotorToZeroRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getMoveToZeroMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.MotorCommand.MotorCommandResponse profilePosition(cmvr.api.MotorCommand.ProfilePositionRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getProfilePositionMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.MotorCommand.MotorCommandResponse profileVelocity(cmvr.api.MotorCommand.ProfileVelocityRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getProfileVelocityMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.MotorCommand.MotorCommandResponse emergencyStop(cmvr.api.MotorCommand.EmergencyStopRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getEmergencyStopMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.MotorCommand.GetMotorStatusResponse getStatus(cmvr.api.MotorCommand.GetMotorStatusRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getGetStatusMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.MotorCommand.MotorCommandResponse setEnabled(cmvr.api.MotorCommand.SetMotorEnabledRequest request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getSetEnabledMethod(), getCallOptions(), request);
+    }
+  }
+
+  /**
+   */
+  public static final class MotorServiceFutureStub extends io.grpc.stub.AbstractFutureStub {
+    private MotorServiceFutureStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected MotorServiceFutureStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new MotorServiceFutureStub(channel, callOptions);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture setZero(
+        cmvr.api.MotorCommand.SetMotorZeroRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getSetZeroMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture moveToZero(
+        cmvr.api.MotorCommand.MoveMotorToZeroRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getMoveToZeroMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture profilePosition(
+        cmvr.api.MotorCommand.ProfilePositionRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getProfilePositionMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture profileVelocity(
+        cmvr.api.MotorCommand.ProfileVelocityRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getProfileVelocityMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture emergencyStop(
+        cmvr.api.MotorCommand.EmergencyStopRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getEmergencyStopMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture getStatus(
+        cmvr.api.MotorCommand.GetMotorStatusRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getGetStatusMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture setEnabled(
+        cmvr.api.MotorCommand.SetMotorEnabledRequest request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getSetEnabledMethod(), getCallOptions()), request);
+    }
+  }
+
+  private static final int METHODID_SET_ZERO = 0;
+  private static final int METHODID_MOVE_TO_ZERO = 1;
+  private static final int METHODID_PROFILE_POSITION = 2;
+  private static final int METHODID_PROFILE_VELOCITY = 3;
+  private static final int METHODID_EMERGENCY_STOP = 4;
+  private static final int METHODID_GET_STATUS = 5;
+  private static final int METHODID_SET_ENABLED = 6;
+  private static final int METHODID_STREAM_CYCLIC_POSITION = 7;
+  private static final int METHODID_STREAM_CYCLIC_VELOCITY = 8;
+
+  private static final class MethodHandlers implements
+      io.grpc.stub.ServerCalls.UnaryMethod,
+      io.grpc.stub.ServerCalls.ServerStreamingMethod,
+      io.grpc.stub.ServerCalls.ClientStreamingMethod,
+      io.grpc.stub.ServerCalls.BidiStreamingMethod {
+    private final MotorServiceImplBase serviceImpl;
+    private final int methodId;
+
+    MethodHandlers(MotorServiceImplBase serviceImpl, int methodId) {
+      this.serviceImpl = serviceImpl;
+      this.methodId = methodId;
+    }
+
+    @java.lang.Override
+    @java.lang.SuppressWarnings("unchecked")
+    public void invoke(Req request, io.grpc.stub.StreamObserver responseObserver) {
+      switch (methodId) {
+        case METHODID_SET_ZERO:
+          serviceImpl.setZero((cmvr.api.MotorCommand.SetMotorZeroRequest) request,
+              (io.grpc.stub.StreamObserver) responseObserver);
+          break;
+        case METHODID_MOVE_TO_ZERO:
+          serviceImpl.moveToZero((cmvr.api.MotorCommand.MoveMotorToZeroRequest) request,
+              (io.grpc.stub.StreamObserver) responseObserver);
+          break;
+        case METHODID_PROFILE_POSITION:
+          serviceImpl.profilePosition((cmvr.api.MotorCommand.ProfilePositionRequest) request,
+              (io.grpc.stub.StreamObserver) responseObserver);
+          break;
+        case METHODID_PROFILE_VELOCITY:
+          serviceImpl.profileVelocity((cmvr.api.MotorCommand.ProfileVelocityRequest) request,
+              (io.grpc.stub.StreamObserver) responseObserver);
+          break;
+        case METHODID_EMERGENCY_STOP:
+          serviceImpl.emergencyStop((cmvr.api.MotorCommand.EmergencyStopRequest) request,
+              (io.grpc.stub.StreamObserver) responseObserver);
+          break;
+        case METHODID_GET_STATUS:
+          serviceImpl.getStatus((cmvr.api.MotorCommand.GetMotorStatusRequest) request,
+              (io.grpc.stub.StreamObserver) responseObserver);
+          break;
+        case METHODID_SET_ENABLED:
+          serviceImpl.setEnabled((cmvr.api.MotorCommand.SetMotorEnabledRequest) request,
+              (io.grpc.stub.StreamObserver) responseObserver);
+          break;
+        default:
+          throw new AssertionError();
+      }
+    }
+
+    @java.lang.Override
+    @java.lang.SuppressWarnings("unchecked")
+    public io.grpc.stub.StreamObserver invoke(
+        io.grpc.stub.StreamObserver responseObserver) {
+      switch (methodId) {
+        case METHODID_STREAM_CYCLIC_POSITION:
+          return (io.grpc.stub.StreamObserver) serviceImpl.streamCyclicPosition(
+              (io.grpc.stub.StreamObserver) responseObserver);
+        case METHODID_STREAM_CYCLIC_VELOCITY:
+          return (io.grpc.stub.StreamObserver) serviceImpl.streamCyclicVelocity(
+              (io.grpc.stub.StreamObserver) responseObserver);
+        default:
+          throw new AssertionError();
+      }
+    }
+  }
+
+  private static abstract class MotorServiceBaseDescriptorSupplier
+      implements io.grpc.protobuf.ProtoFileDescriptorSupplier, io.grpc.protobuf.ProtoServiceDescriptorSupplier {
+    MotorServiceBaseDescriptorSupplier() {}
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() {
+      return cmvr.api.MotorServiceOuterClass.getDescriptor();
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.ServiceDescriptor getServiceDescriptor() {
+      return getFileDescriptor().findServiceByName("MotorService");
+    }
+  }
+
+  private static final class MotorServiceFileDescriptorSupplier
+      extends MotorServiceBaseDescriptorSupplier {
+    MotorServiceFileDescriptorSupplier() {}
+  }
+
+  private static final class MotorServiceMethodDescriptorSupplier
+      extends MotorServiceBaseDescriptorSupplier
+      implements io.grpc.protobuf.ProtoMethodDescriptorSupplier {
+    private final String methodName;
+
+    MotorServiceMethodDescriptorSupplier(String methodName) {
+      this.methodName = methodName;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.MethodDescriptor getMethodDescriptor() {
+      return getServiceDescriptor().findMethodByName(methodName);
+    }
+  }
+
+  private static volatile io.grpc.ServiceDescriptor serviceDescriptor;
+
+  public static io.grpc.ServiceDescriptor getServiceDescriptor() {
+    io.grpc.ServiceDescriptor result = serviceDescriptor;
+    if (result == null) {
+      synchronized (MotorServiceGrpc.class) {
+        result = serviceDescriptor;
+        if (result == null) {
+          serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
+              .setSchemaDescriptor(new MotorServiceFileDescriptorSupplier())
+              .addMethod(getSetZeroMethod())
+              .addMethod(getMoveToZeroMethod())
+              .addMethod(getProfilePositionMethod())
+              .addMethod(getProfileVelocityMethod())
+              .addMethod(getStreamCyclicPositionMethod())
+              .addMethod(getStreamCyclicVelocityMethod())
+              .addMethod(getEmergencyStopMethod())
+              .addMethod(getGetStatusMethod())
+              .addMethod(getSetEnabledMethod())
+              .build();
+        }
+      }
+    }
+    return result;
+  }
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/MotorServiceOuterClass.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/MotorServiceOuterClass.java
new file mode 100644
index 0000000..a334437
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/MotorServiceOuterClass.java
@@ -0,0 +1,58 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/api/motor_service.proto
+
+package cmvr.api;
+
+public final class MotorServiceOuterClass {
+  private MotorServiceOuterClass() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\034cmvr/api/motor_service.proto\022\010cmvr.api" +
+      "\032\034cmvr/api/motor_command.proto2\377\005\n\014Motor" +
+      "Service\022H\n\007setZero\022\035.cmvr.api.SetMotorZe" +
+      "roRequest\032\036.cmvr.api.MotorCommandRespons" +
+      "e\022N\n\nmoveToZero\022 .cmvr.api.MoveMotorToZe" +
+      "roRequest\032\036.cmvr.api.MotorCommandRespons" +
+      "e\022S\n\017profilePosition\022 .cmvr.api.ProfileP" +
+      "ositionRequest\032\036.cmvr.api.MotorCommandRe" +
+      "sponse\022S\n\017profileVelocity\022 .cmvr.api.Pro" +
+      "fileVelocityRequest\032\036.cmvr.api.MotorComm" +
+      "andResponse\022\\\n\024streamCyclicPosition\022\037.cm" +
+      "vr.api.CyclicPositionRequest\032\037.cmvr.api." +
+      "CyclicControlResponse(\0010\001\022\\\n\024streamCycli" +
+      "cVelocity\022\037.cmvr.api.CyclicVelocityReque" +
+      "st\032\037.cmvr.api.CyclicControlResponse(\0010\001\022" +
+      "O\n\remergencyStop\022\036.cmvr.api.EmergencySto" +
+      "pRequest\032\036.cmvr.api.MotorCommandResponse" +
+      "\022N\n\tgetStatus\022\037.cmvr.api.GetMotorStatusR" +
+      "equest\032 .cmvr.api.GetMotorStatusResponse" +
+      "\022N\n\nsetEnabled\022 .cmvr.api.SetMotorEnable" +
+      "dRequest\032\036.cmvr.api.MotorCommandResponse" +
+      "b\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+          cmvr.api.MotorCommand.getDescriptor(),
+        });
+    cmvr.api.MotorCommand.getDescriptor();
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceGrpc.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceGrpc.java
index f192931..6b5fa63 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceGrpc.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceGrpc.java
@@ -108,6 +108,37 @@ public final class SystemServiceGrpc {
     return getUpdateParamsMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor getExecuteJsonCommandMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "ExecuteJsonCommand",
+      requestType = cmvr.api.Common.JsonDeviceCommand.Request.class,
+      responseType = cmvr.api.Common.JsonDeviceCommand.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor getExecuteJsonCommandMethod() {
+    io.grpc.MethodDescriptor getExecuteJsonCommandMethod;
+    if ((getExecuteJsonCommandMethod = SystemServiceGrpc.getExecuteJsonCommandMethod) == null) {
+      synchronized (SystemServiceGrpc.class) {
+        if ((getExecuteJsonCommandMethod = SystemServiceGrpc.getExecuteJsonCommandMethod) == null) {
+          SystemServiceGrpc.getExecuteJsonCommandMethod = getExecuteJsonCommandMethod =
+              io.grpc.MethodDescriptor.newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "ExecuteJsonCommand"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.Common.JsonDeviceCommand.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.Common.JsonDeviceCommand.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new SystemServiceMethodDescriptorSupplier("ExecuteJsonCommand"))
+              .build();
+        }
+      }
+    }
+    return getExecuteJsonCommandMethod;
+  }
+
   private static volatile io.grpc.MethodDescriptor getStopAllMethod;
 
@@ -208,6 +239,13 @@ public final class SystemServiceGrpc {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getUpdateParamsMethod(), responseObserver);
     }
 
+    /**
+     */
+    public void executeJsonCommand(cmvr.api.Common.JsonDeviceCommand.Request request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getExecuteJsonCommandMethod(), responseObserver);
+    }
+
     /**
      */
     public void stopAll(cmvr.api.SystemCommand.StopAllCommand.Request request,
@@ -238,6 +276,13 @@ public final class SystemServiceGrpc {
                 cmvr.api.SystemCommand.UpdateParamsCommand.Request,
                 cmvr.api.SystemCommand.UpdateParamsCommand.Feedback>(
                   this, METHODID_UPDATE_PARAMS)))
+          .addMethod(
+            getExecuteJsonCommandMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.Common.JsonDeviceCommand.Request,
+                cmvr.api.Common.JsonDeviceCommand.Feedback>(
+                  this, METHODID_EXECUTE_JSON_COMMAND)))
           .addMethod(
             getStopAllMethod(),
             io.grpc.stub.ServerCalls.asyncUnaryCall(
@@ -287,6 +332,14 @@ public final class SystemServiceGrpc {
           getChannel().newCall(getUpdateParamsMethod(), getCallOptions()), request, responseObserver);
     }
 
+    /**
+     */
+    public void executeJsonCommand(cmvr.api.Common.JsonDeviceCommand.Request request,
+        io.grpc.stub.StreamObserver responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getExecuteJsonCommandMethod(), getCallOptions()), request, responseObserver);
+    }
+
     /**
      */
     public void stopAll(cmvr.api.SystemCommand.StopAllCommand.Request request,
@@ -331,6 +384,13 @@ public final class SystemServiceGrpc {
           getChannel(), getUpdateParamsMethod(), getCallOptions(), request);
     }
 
+    /**
+     */
+    public cmvr.api.Common.JsonDeviceCommand.Feedback executeJsonCommand(cmvr.api.Common.JsonDeviceCommand.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getExecuteJsonCommandMethod(), getCallOptions(), request);
+    }
+
     /**
      */
     public cmvr.api.SystemCommand.StopAllCommand.Feedback stopAll(cmvr.api.SystemCommand.StopAllCommand.Request request) {
@@ -377,6 +437,14 @@ public final class SystemServiceGrpc {
           getChannel().newCall(getUpdateParamsMethod(), getCallOptions()), request);
     }
 
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture executeJsonCommand(
+        cmvr.api.Common.JsonDeviceCommand.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getExecuteJsonCommandMethod(), getCallOptions()), request);
+    }
+
     /**
      */
     public com.google.common.util.concurrent.ListenableFuture stopAll(
@@ -389,7 +457,8 @@ public final class SystemServiceGrpc {
   private static final int METHODID_GET_SYSTEM_INFO = 0;
   private static final int METHODID_GET_SYSTEM_STATUS = 1;
   private static final int METHODID_UPDATE_PARAMS = 2;
-  private static final int METHODID_STOP_ALL = 3;
+  private static final int METHODID_EXECUTE_JSON_COMMAND = 3;
+  private static final int METHODID_STOP_ALL = 4;
 
   private static final class MethodHandlers implements
       io.grpc.stub.ServerCalls.UnaryMethod,
@@ -420,6 +489,10 @@ public final class SystemServiceGrpc {
           serviceImpl.updateParams((cmvr.api.SystemCommand.UpdateParamsCommand.Request) request,
               (io.grpc.stub.StreamObserver) responseObserver);
           break;
+        case METHODID_EXECUTE_JSON_COMMAND:
+          serviceImpl.executeJsonCommand((cmvr.api.Common.JsonDeviceCommand.Request) request,
+              (io.grpc.stub.StreamObserver) responseObserver);
+          break;
         case METHODID_STOP_ALL:
           serviceImpl.stopAll((cmvr.api.SystemCommand.StopAllCommand.Request) request,
               (io.grpc.stub.StreamObserver) responseObserver);
@@ -488,6 +561,7 @@ public final class SystemServiceGrpc {
               .addMethod(getGetSystemInfoMethod())
               .addMethod(getGetSystemStatusMethod())
               .addMethod(getUpdateParamsMethod())
+              .addMethod(getExecuteJsonCommandMethod())
               .addMethod(getStopAllMethod())
               .build();
         }
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceOuterClass.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceOuterClass.java
index 4ccfd59..68d33c0 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceOuterClass.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/SystemServiceOuterClass.java
@@ -24,24 +24,29 @@ public final class SystemServiceOuterClass {
   static {
     java.lang.String[] descriptorData = {
       "\n\035cmvr/api/system_service.proto\022\010cmvr.ap" +
-      "i\032\035cmvr/api/system_command.proto2\220\003\n\rSys" +
-      "temService\022b\n\rGetSystemInfo\022&.cmvr.api.G" +
-      "etSystemInfoCommand.Request\032\'.cmvr.api.G" +
-      "etSystemInfoCommand.Feedback\"\000\022h\n\017GetSys" +
-      "temStatus\022(.cmvr.api.GetSystemStatusComm" +
-      "and.Request\032).cmvr.api.GetSystemStatusCo" +
-      "mmand.Feedback\"\000\022_\n\014UpdateParams\022%.cmvr." +
-      "api.UpdateParamsCommand.Request\032&.cmvr.a" +
-      "pi.UpdateParamsCommand.Feedback\"\000\022P\n\007Sto" +
-      "pAll\022 .cmvr.api.StopAllCommand.Request\032!" +
-      ".cmvr.api.StopAllCommand.Feedback\"\000b\006pro" +
-      "to3"
+      "i\032\025cmvr/api/common.proto\032\035cmvr/api/syste" +
+      "m_command.proto2\363\003\n\rSystemService\022b\n\rGet" +
+      "SystemInfo\022&.cmvr.api.GetSystemInfoComma" +
+      "nd.Request\032\'.cmvr.api.GetSystemInfoComma" +
+      "nd.Feedback\"\000\022h\n\017GetSystemStatus\022(.cmvr." +
+      "api.GetSystemStatusCommand.Request\032).cmv" +
+      "r.api.GetSystemStatusCommand.Feedback\"\000\022" +
+      "_\n\014UpdateParams\022%.cmvr.api.UpdateParamsC" +
+      "ommand.Request\032&.cmvr.api.UpdateParamsCo" +
+      "mmand.Feedback\"\000\022a\n\022ExecuteJsonCommand\022#" +
+      ".cmvr.api.JsonDeviceCommand.Request\032$.cm" +
+      "vr.api.JsonDeviceCommand.Feedback\"\000\022P\n\007S" +
+      "topAll\022 .cmvr.api.StopAllCommand.Request" +
+      "\032!.cmvr.api.StopAllCommand.Feedback\"\000b\006p" +
+      "roto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
         new com.google.protobuf.Descriptors.FileDescriptor[] {
+          cmvr.api.Common.getDescriptor(),
           cmvr.api.SystemCommand.getDescriptor(),
         });
+    cmvr.api.Common.getDescriptor();
     cmvr.api.SystemCommand.getDescriptor();
   }
 
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/armteleop/v1/ArmTeleopServiceGrpc.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/armteleop/v1/ArmTeleopServiceGrpc.java
new file mode 100644
index 0000000..50e97d2
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/armteleop/v1/ArmTeleopServiceGrpc.java
@@ -0,0 +1,280 @@
+package cmvr.api.armteleop.v1;
+
+import static io.grpc.MethodDescriptor.generateFullMethodName;
+
+/**
+ * 
+ * Versioned, session-oriented protocol for wired arm teleoperation. Existing
+ * unary ArmService RPCs intentionally remain unchanged.
+ * 

+ */
+@javax.annotation.Generated(
+    value = "by gRPC proto compiler (version 1.52.0)",
+    comments = "Source: cmvr/api/arm_teleop_v1.proto")
+@io.grpc.stub.annotations.GrpcGenerated
+public final class ArmTeleopServiceGrpc {
+
+  private ArmTeleopServiceGrpc() {}
+
+  public static final String SERVICE_NAME = "cmvr.api.armteleop.v1.ArmTeleopService";
+
+  // Static method descriptors that strictly reflect the proto.
+  private static volatile io.grpc.MethodDescriptor getTeleoperateMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "Teleoperate",
+      requestType = cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame.class,
+      responseType = cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
+  public static io.grpc.MethodDescriptor getTeleoperateMethod() {
+    io.grpc.MethodDescriptor getTeleoperateMethod;
+    if ((getTeleoperateMethod = ArmTeleopServiceGrpc.getTeleoperateMethod) == null) {
+      synchronized (ArmTeleopServiceGrpc.class) {
+        if ((getTeleoperateMethod = ArmTeleopServiceGrpc.getTeleoperateMethod) == null) {
+          ArmTeleopServiceGrpc.getTeleoperateMethod = getTeleoperateMethod =
+              io.grpc.MethodDescriptor.newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.BIDI_STREAMING)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "Teleoperate"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame.getDefaultInstance()))
+              .setSchemaDescriptor(new ArmTeleopServiceMethodDescriptorSupplier("Teleoperate"))
+              .build();
+        }
+      }
+    }
+    return getTeleoperateMethod;
+  }
+
+  /**
+   * Creates a new async stub that supports all call types for the service
+   */
+  public static ArmTeleopServiceStub newStub(io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory factory =
+      new io.grpc.stub.AbstractStub.StubFactory() {
+        @java.lang.Override
+        public ArmTeleopServiceStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new ArmTeleopServiceStub(channel, callOptions);
+        }
+      };
+    return ArmTeleopServiceStub.newStub(factory, channel);
+  }
+
+  /**
+   * Creates a new blocking-style stub that supports unary and streaming output calls on the service
+   */
+  public static ArmTeleopServiceBlockingStub newBlockingStub(
+      io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory factory =
+      new io.grpc.stub.AbstractStub.StubFactory() {
+        @java.lang.Override
+        public ArmTeleopServiceBlockingStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new ArmTeleopServiceBlockingStub(channel, callOptions);
+        }
+      };
+    return ArmTeleopServiceBlockingStub.newStub(factory, channel);
+  }
+
+  /**
+   * Creates a new ListenableFuture-style stub that supports unary calls on the service
+   */
+  public static ArmTeleopServiceFutureStub newFutureStub(
+      io.grpc.Channel channel) {
+    io.grpc.stub.AbstractStub.StubFactory factory =
+      new io.grpc.stub.AbstractStub.StubFactory() {
+        @java.lang.Override
+        public ArmTeleopServiceFutureStub newStub(io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+          return new ArmTeleopServiceFutureStub(channel, callOptions);
+        }
+      };
+    return ArmTeleopServiceFutureStub.newStub(factory, channel);
+  }
+
+  /**
+   * 
+   * Versioned, session-oriented protocol for wired arm teleoperation. Existing
+   * unary ArmService RPCs intentionally remain unchanged.
+   * 

+   */
+  public static abstract class ArmTeleopServiceImplBase implements io.grpc.BindableService {
+
+    /**
+     */
+    public io.grpc.stub.StreamObserver teleoperate(
+        io.grpc.stub.StreamObserver responseObserver) {
+      return io.grpc.stub.ServerCalls.asyncUnimplementedStreamingCall(getTeleoperateMethod(), responseObserver);
+    }
+
+    @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
+      return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
+          .addMethod(
+            getTeleoperateMethod(),
+            io.grpc.stub.ServerCalls.asyncBidiStreamingCall(
+              new MethodHandlers<
+                cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame,
+                cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame>(
+                  this, METHODID_TELEOPERATE)))
+          .build();
+    }
+  }
+
+  /**
+   * 
+   * Versioned, session-oriented protocol for wired arm teleoperation. Existing
+   * unary ArmService RPCs intentionally remain unchanged.
+   * 

+   */
+  public static final class ArmTeleopServiceStub extends io.grpc.stub.AbstractAsyncStub {
+    private ArmTeleopServiceStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected ArmTeleopServiceStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new ArmTeleopServiceStub(channel, callOptions);
+    }
+
+    /**
+     */
+    public io.grpc.stub.StreamObserver teleoperate(
+        io.grpc.stub.StreamObserver responseObserver) {
+      return io.grpc.stub.ClientCalls.asyncBidiStreamingCall(
+          getChannel().newCall(getTeleoperateMethod(), getCallOptions()), responseObserver);
+    }
+  }
+
+  /**
+   * 
+   * Versioned, session-oriented protocol for wired arm teleoperation. Existing
+   * unary ArmService RPCs intentionally remain unchanged.
+   * 

+   */
+  public static final class ArmTeleopServiceBlockingStub extends io.grpc.stub.AbstractBlockingStub {
+    private ArmTeleopServiceBlockingStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected ArmTeleopServiceBlockingStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new ArmTeleopServiceBlockingStub(channel, callOptions);
+    }
+  }
+
+  /**
+   * 
+   * Versioned, session-oriented protocol for wired arm teleoperation. Existing
+   * unary ArmService RPCs intentionally remain unchanged.
+   * 

+   */
+  public static final class ArmTeleopServiceFutureStub extends io.grpc.stub.AbstractFutureStub {
+    private ArmTeleopServiceFutureStub(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      super(channel, callOptions);
+    }
+
+    @java.lang.Override
+    protected ArmTeleopServiceFutureStub build(
+        io.grpc.Channel channel, io.grpc.CallOptions callOptions) {
+      return new ArmTeleopServiceFutureStub(channel, callOptions);
+    }
+  }
+
+  private static final int METHODID_TELEOPERATE = 0;
+
+  private static final class MethodHandlers implements
+      io.grpc.stub.ServerCalls.UnaryMethod,
+      io.grpc.stub.ServerCalls.ServerStreamingMethod,
+      io.grpc.stub.ServerCalls.ClientStreamingMethod,
+      io.grpc.stub.ServerCalls.BidiStreamingMethod {
+    private final ArmTeleopServiceImplBase serviceImpl;
+    private final int methodId;
+
+    MethodHandlers(ArmTeleopServiceImplBase serviceImpl, int methodId) {
+      this.serviceImpl = serviceImpl;
+      this.methodId = methodId;
+    }
+
+    @java.lang.Override
+    @java.lang.SuppressWarnings("unchecked")
+    public void invoke(Req request, io.grpc.stub.StreamObserver responseObserver) {
+      switch (methodId) {
+        default:
+          throw new AssertionError();
+      }
+    }
+
+    @java.lang.Override
+    @java.lang.SuppressWarnings("unchecked")
+    public io.grpc.stub.StreamObserver invoke(
+        io.grpc.stub.StreamObserver responseObserver) {
+      switch (methodId) {
+        case METHODID_TELEOPERATE:
+          return (io.grpc.stub.StreamObserver) serviceImpl.teleoperate(
+              (io.grpc.stub.StreamObserver) responseObserver);
+        default:
+          throw new AssertionError();
+      }
+    }
+  }
+
+  private static abstract class ArmTeleopServiceBaseDescriptorSupplier
+      implements io.grpc.protobuf.ProtoFileDescriptorSupplier, io.grpc.protobuf.ProtoServiceDescriptorSupplier {
+    ArmTeleopServiceBaseDescriptorSupplier() {}
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.FileDescriptor getFileDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.getDescriptor();
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.ServiceDescriptor getServiceDescriptor() {
+      return getFileDescriptor().findServiceByName("ArmTeleopService");
+    }
+  }
+
+  private static final class ArmTeleopServiceFileDescriptorSupplier
+      extends ArmTeleopServiceBaseDescriptorSupplier {
+    ArmTeleopServiceFileDescriptorSupplier() {}
+  }
+
+  private static final class ArmTeleopServiceMethodDescriptorSupplier
+      extends ArmTeleopServiceBaseDescriptorSupplier
+      implements io.grpc.protobuf.ProtoMethodDescriptorSupplier {
+    private final String methodName;
+
+    ArmTeleopServiceMethodDescriptorSupplier(String methodName) {
+      this.methodName = methodName;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Descriptors.MethodDescriptor getMethodDescriptor() {
+      return getServiceDescriptor().findMethodByName(methodName);
+    }
+  }
+
+  private static volatile io.grpc.ServiceDescriptor serviceDescriptor;
+
+  public static io.grpc.ServiceDescriptor getServiceDescriptor() {
+    io.grpc.ServiceDescriptor result = serviceDescriptor;
+    if (result == null) {
+      synchronized (ArmTeleopServiceGrpc.class) {
+        result = serviceDescriptor;
+        if (result == null) {
+          serviceDescriptor = result = io.grpc.ServiceDescriptor.newBuilder(SERVICE_NAME)
+              .setSchemaDescriptor(new ArmTeleopServiceFileDescriptorSupplier())
+              .addMethod(getTeleoperateMethod())
+              .build();
+        }
+      }
+    }
+    return result;
+  }
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/armteleop/v1/ArmTeleopV1.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/armteleop/v1/ArmTeleopV1.java
new file mode 100644
index 0000000..4ccb3dd
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/armteleop/v1/ArmTeleopV1.java
@@ -0,0 +1,11827 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/api/arm_teleop_v1.proto
+
+package cmvr.api.armteleop.v1;
+
+public final class ArmTeleopV1 {
+  private ArmTeleopV1() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+  /**
+   * Protobuf enum {@code cmvr.api.armteleop.v1.SessionPhase}
+   */
+  public enum SessionPhase
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * SESSION_PHASE_UNSPECIFIED = 0;
+     */
+    SESSION_PHASE_UNSPECIFIED(0),
+    /**
+     * SESSION_PHASE_OPENED = 1;
+     */
+    SESSION_PHASE_OPENED(1),
+    /**
+     * SESSION_PHASE_READY = 2;
+     */
+    SESSION_PHASE_READY(2),
+    /**
+     * SESSION_PHASE_ACTIVE = 3;
+     */
+    SESSION_PHASE_ACTIVE(3),
+    /**
+     * SESSION_PHASE_HOLDING = 4;
+     */
+    SESSION_PHASE_HOLDING(4),
+    /**
+     * SESSION_PHASE_STOPPED = 5;
+     */
+    SESSION_PHASE_STOPPED(5),
+    /**
+     * SESSION_PHASE_WATCHDOG_EXPIRED = 6;
+     */
+    SESSION_PHASE_WATCHDOG_EXPIRED(6),
+    /**
+     * SESSION_PHASE_LEASE_LOST = 7;
+     */
+    SESSION_PHASE_LEASE_LOST(7),
+    /**
+     * SESSION_PHASE_REJECTED = 8;
+     */
+    SESSION_PHASE_REJECTED(8),
+    /**
+     * SESSION_PHASE_FAILED = 9;
+     */
+    SESSION_PHASE_FAILED(9),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * SESSION_PHASE_UNSPECIFIED = 0;
+     */
+    public static final int SESSION_PHASE_UNSPECIFIED_VALUE = 0;
+    /**
+     * SESSION_PHASE_OPENED = 1;
+     */
+    public static final int SESSION_PHASE_OPENED_VALUE = 1;
+    /**
+     * SESSION_PHASE_READY = 2;
+     */
+    public static final int SESSION_PHASE_READY_VALUE = 2;
+    /**
+     * SESSION_PHASE_ACTIVE = 3;
+     */
+    public static final int SESSION_PHASE_ACTIVE_VALUE = 3;
+    /**
+     * SESSION_PHASE_HOLDING = 4;
+     */
+    public static final int SESSION_PHASE_HOLDING_VALUE = 4;
+    /**
+     * SESSION_PHASE_STOPPED = 5;
+     */
+    public static final int SESSION_PHASE_STOPPED_VALUE = 5;
+    /**
+     * SESSION_PHASE_WATCHDOG_EXPIRED = 6;
+     */
+    public static final int SESSION_PHASE_WATCHDOG_EXPIRED_VALUE = 6;
+    /**
+     * SESSION_PHASE_LEASE_LOST = 7;
+     */
+    public static final int SESSION_PHASE_LEASE_LOST_VALUE = 7;
+    /**
+     * SESSION_PHASE_REJECTED = 8;
+     */
+    public static final int SESSION_PHASE_REJECTED_VALUE = 8;
+    /**
+     * SESSION_PHASE_FAILED = 9;
+     */
+    public static final int SESSION_PHASE_FAILED_VALUE = 9;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static SessionPhase valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static SessionPhase forNumber(int value) {
+      switch (value) {
+        case 0: return SESSION_PHASE_UNSPECIFIED;
+        case 1: return SESSION_PHASE_OPENED;
+        case 2: return SESSION_PHASE_READY;
+        case 3: return SESSION_PHASE_ACTIVE;
+        case 4: return SESSION_PHASE_HOLDING;
+        case 5: return SESSION_PHASE_STOPPED;
+        case 6: return SESSION_PHASE_WATCHDOG_EXPIRED;
+        case 7: return SESSION_PHASE_LEASE_LOST;
+        case 8: return SESSION_PHASE_REJECTED;
+        case 9: return SESSION_PHASE_FAILED;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        SessionPhase> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public SessionPhase findValueByNumber(int number) {
+              return SessionPhase.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.getDescriptor().getEnumTypes().get(0);
+    }
+
+    private static final SessionPhase[] VALUES = values();
+
+    public static SessionPhase valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private SessionPhase(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.api.armteleop.v1.SessionPhase)
+  }
+
+  /**
+   * Protobuf enum {@code cmvr.api.armteleop.v1.StopReason}
+   */
+  public enum StopReason
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * STOP_REASON_UNSPECIFIED = 0;
+     */
+    STOP_REASON_UNSPECIFIED(0),
+    /**
+     * STOP_REASON_OPERATOR_REQUEST = 1;
+     */
+    STOP_REASON_OPERATOR_REQUEST(1),
+    /**
+     * STOP_REASON_CLIENT_SHUTDOWN = 2;
+     */
+    STOP_REASON_CLIENT_SHUTDOWN(2),
+    /**
+     * STOP_REASON_WATCHDOG = 3;
+     */
+    STOP_REASON_WATCHDOG(3),
+    /**
+     * STOP_REASON_LEASE_REVOKED = 4;
+     */
+    STOP_REASON_LEASE_REVOKED(4),
+    /**
+     * STOP_REASON_ROBOT_FAULT = 5;
+     */
+    STOP_REASON_ROBOT_FAULT(5),
+    /**
+     * STOP_REASON_EMERGENCY_STOP = 6;
+     */
+    STOP_REASON_EMERGENCY_STOP(6),
+    /**
+     * STOP_REASON_PROTOCOL_ERROR = 7;
+     */
+    STOP_REASON_PROTOCOL_ERROR(7),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * STOP_REASON_UNSPECIFIED = 0;
+     */
+    public static final int STOP_REASON_UNSPECIFIED_VALUE = 0;
+    /**
+     * STOP_REASON_OPERATOR_REQUEST = 1;
+     */
+    public static final int STOP_REASON_OPERATOR_REQUEST_VALUE = 1;
+    /**
+     * STOP_REASON_CLIENT_SHUTDOWN = 2;
+     */
+    public static final int STOP_REASON_CLIENT_SHUTDOWN_VALUE = 2;
+    /**
+     * STOP_REASON_WATCHDOG = 3;
+     */
+    public static final int STOP_REASON_WATCHDOG_VALUE = 3;
+    /**
+     * STOP_REASON_LEASE_REVOKED = 4;
+     */
+    public static final int STOP_REASON_LEASE_REVOKED_VALUE = 4;
+    /**
+     * STOP_REASON_ROBOT_FAULT = 5;
+     */
+    public static final int STOP_REASON_ROBOT_FAULT_VALUE = 5;
+    /**
+     * STOP_REASON_EMERGENCY_STOP = 6;
+     */
+    public static final int STOP_REASON_EMERGENCY_STOP_VALUE = 6;
+    /**
+     * STOP_REASON_PROTOCOL_ERROR = 7;
+     */
+    public static final int STOP_REASON_PROTOCOL_ERROR_VALUE = 7;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static StopReason valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static StopReason forNumber(int value) {
+      switch (value) {
+        case 0: return STOP_REASON_UNSPECIFIED;
+        case 1: return STOP_REASON_OPERATOR_REQUEST;
+        case 2: return STOP_REASON_CLIENT_SHUTDOWN;
+        case 3: return STOP_REASON_WATCHDOG;
+        case 4: return STOP_REASON_LEASE_REVOKED;
+        case 5: return STOP_REASON_ROBOT_FAULT;
+        case 6: return STOP_REASON_EMERGENCY_STOP;
+        case 7: return STOP_REASON_PROTOCOL_ERROR;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        StopReason> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public StopReason findValueByNumber(int number) {
+              return StopReason.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.getDescriptor().getEnumTypes().get(1);
+    }
+
+    private static final StopReason[] VALUES = values();
+
+    public static StopReason valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private StopReason(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.api.armteleop.v1.StopReason)
+  }
+
+  /**
+   * Protobuf enum {@code cmvr.api.armteleop.v1.EffortSource}
+   */
+  public enum EffortSource
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * EFFORT_SOURCE_UNSPECIFIED = 0;
+     */
+    EFFORT_SOURCE_UNSPECIFIED(0),
+    /**
+     * EFFORT_SOURCE_MOTOR_ESTIMATE = 1;
+     */
+    EFFORT_SOURCE_MOTOR_ESTIMATE(1),
+    /**
+     * EFFORT_SOURCE_JOINT_SENSOR = 2;
+     */
+    EFFORT_SOURCE_JOINT_SENSOR(2),
+    /**
+     * EFFORT_SOURCE_FORCE_TORQUE_SENSOR = 3;
+     */
+    EFFORT_SOURCE_FORCE_TORQUE_SENSOR(3),
+    /**
+     * EFFORT_SOURCE_OBSERVER = 4;
+     */
+    EFFORT_SOURCE_OBSERVER(4),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * EFFORT_SOURCE_UNSPECIFIED = 0;
+     */
+    public static final int EFFORT_SOURCE_UNSPECIFIED_VALUE = 0;
+    /**
+     * EFFORT_SOURCE_MOTOR_ESTIMATE = 1;
+     */
+    public static final int EFFORT_SOURCE_MOTOR_ESTIMATE_VALUE = 1;
+    /**
+     * EFFORT_SOURCE_JOINT_SENSOR = 2;
+     */
+    public static final int EFFORT_SOURCE_JOINT_SENSOR_VALUE = 2;
+    /**
+     * EFFORT_SOURCE_FORCE_TORQUE_SENSOR = 3;
+     */
+    public static final int EFFORT_SOURCE_FORCE_TORQUE_SENSOR_VALUE = 3;
+    /**
+     * EFFORT_SOURCE_OBSERVER = 4;
+     */
+    public static final int EFFORT_SOURCE_OBSERVER_VALUE = 4;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static EffortSource valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static EffortSource forNumber(int value) {
+      switch (value) {
+        case 0: return EFFORT_SOURCE_UNSPECIFIED;
+        case 1: return EFFORT_SOURCE_MOTOR_ESTIMATE;
+        case 2: return EFFORT_SOURCE_JOINT_SENSOR;
+        case 3: return EFFORT_SOURCE_FORCE_TORQUE_SENSOR;
+        case 4: return EFFORT_SOURCE_OBSERVER;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        EffortSource> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public EffortSource findValueByNumber(int number) {
+              return EffortSource.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.getDescriptor().getEnumTypes().get(2);
+    }
+
+    private static final EffortSource[] VALUES = values();
+
+    public static EffortSource valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private EffortSource(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.api.armteleop.v1.EffortSource)
+  }
+
+  public interface RobotManifestOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.armteleop.v1.RobotManifest)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * string robot_id = 1;
+     * @return The robotId.
+     */
+    java.lang.String getRobotId();
+    /**
+     * string robot_id = 1;
+     * @return The bytes for robotId.
+     */
+    com.google.protobuf.ByteString
+        getRobotIdBytes();
+
+    /**
+     * string model_sha256 = 2;
+     * @return The modelSha256.
+     */
+    java.lang.String getModelSha256();
+    /**
+     * string model_sha256 = 2;
+     * @return The bytes for modelSha256.
+     */
+    com.google.protobuf.ByteString
+        getModelSha256Bytes();
+
+    /**
+     * string calibration_sha256 = 3;
+     * @return The calibrationSha256.
+     */
+    java.lang.String getCalibrationSha256();
+    /**
+     * string calibration_sha256 = 3;
+     * @return The bytes for calibrationSha256.
+     */
+    com.google.protobuf.ByteString
+        getCalibrationSha256Bytes();
+
+    /**
+     * repeated string joint_names = 4;
+     * @return A list containing the jointNames.
+     */
+    java.util.List
+        getJointNamesList();
+    /**
+     * repeated string joint_names = 4;
+     * @return The count of jointNames.
+     */
+    int getJointNamesCount();
+    /**
+     * repeated string joint_names = 4;
+     * @param index The index of the element to return.
+     * @return The jointNames at the given index.
+     */
+    java.lang.String getJointNames(int index);
+    /**
+     * repeated string joint_names = 4;
+     * @param index The index of the value to return.
+     * @return The bytes of the jointNames at the given index.
+     */
+    com.google.protobuf.ByteString
+        getJointNamesBytes(int index);
+
+    /**
+     * string position_unit = 5;
+     * @return The positionUnit.
+     */
+    java.lang.String getPositionUnit();
+    /**
+     * string position_unit = 5;
+     * @return The bytes for positionUnit.
+     */
+    com.google.protobuf.ByteString
+        getPositionUnitBytes();
+
+    /**
+     * string velocity_unit = 6;
+     * @return The velocityUnit.
+     */
+    java.lang.String getVelocityUnit();
+    /**
+     * string velocity_unit = 6;
+     * @return The bytes for velocityUnit.
+     */
+    com.google.protobuf.ByteString
+        getVelocityUnitBytes();
+
+    /**
+     * string effort_unit = 7;
+     * @return The effortUnit.
+     */
+    java.lang.String getEffortUnit();
+    /**
+     * string effort_unit = 7;
+     * @return The bytes for effortUnit.
+     */
+    com.google.protobuf.ByteString
+        getEffortUnitBytes();
+
+    /**
+     * string base_frame = 8;
+     * @return The baseFrame.
+     */
+    java.lang.String getBaseFrame();
+    /**
+     * string base_frame = 8;
+     * @return The bytes for baseFrame.
+     */
+    com.google.protobuf.ByteString
+        getBaseFrameBytes();
+
+    /**
+     * string tool_frame = 9;
+     * @return The toolFrame.
+     */
+    java.lang.String getToolFrame();
+    /**
+     * string tool_frame = 9;
+     * @return The bytes for toolFrame.
+     */
+    com.google.protobuf.ByteString
+        getToolFrameBytes();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.armteleop.v1.RobotManifest}
+   */
+  public static final class RobotManifest extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.armteleop.v1.RobotManifest)
+      RobotManifestOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use RobotManifest.newBuilder() to construct.
+    private RobotManifest(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private RobotManifest() {
+      robotId_ = "";
+      modelSha256_ = "";
+      calibrationSha256_ = "";
+      jointNames_ = com.google.protobuf.LazyStringArrayList.EMPTY;
+      positionUnit_ = "";
+      velocityUnit_ = "";
+      effortUnit_ = "";
+      baseFrame_ = "";
+      toolFrame_ = "";
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new RobotManifest();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_RobotManifest_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_RobotManifest_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.class, cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.Builder.class);
+    }
+
+    public static final int ROBOT_ID_FIELD_NUMBER = 1;
+    private volatile java.lang.Object robotId_;
+    /**
+     * string robot_id = 1;
+     * @return The robotId.
+     */
+    @java.lang.Override
+    public java.lang.String getRobotId() {
+      java.lang.Object ref = robotId_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        robotId_ = s;
+        return s;
+      }
+    }
+    /**
+     * string robot_id = 1;
+     * @return The bytes for robotId.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getRobotIdBytes() {
+      java.lang.Object ref = robotId_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        robotId_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int MODEL_SHA256_FIELD_NUMBER = 2;
+    private volatile java.lang.Object modelSha256_;
+    /**
+     * string model_sha256 = 2;
+     * @return The modelSha256.
+     */
+    @java.lang.Override
+    public java.lang.String getModelSha256() {
+      java.lang.Object ref = modelSha256_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        modelSha256_ = s;
+        return s;
+      }
+    }
+    /**
+     * string model_sha256 = 2;
+     * @return The bytes for modelSha256.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getModelSha256Bytes() {
+      java.lang.Object ref = modelSha256_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        modelSha256_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int CALIBRATION_SHA256_FIELD_NUMBER = 3;
+    private volatile java.lang.Object calibrationSha256_;
+    /**
+     * string calibration_sha256 = 3;
+     * @return The calibrationSha256.
+     */
+    @java.lang.Override
+    public java.lang.String getCalibrationSha256() {
+      java.lang.Object ref = calibrationSha256_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        calibrationSha256_ = s;
+        return s;
+      }
+    }
+    /**
+     * string calibration_sha256 = 3;
+     * @return The bytes for calibrationSha256.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getCalibrationSha256Bytes() {
+      java.lang.Object ref = calibrationSha256_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        calibrationSha256_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int JOINT_NAMES_FIELD_NUMBER = 4;
+    private com.google.protobuf.LazyStringList jointNames_;
+    /**
+     * repeated string joint_names = 4;
+     * @return A list containing the jointNames.
+     */
+    public com.google.protobuf.ProtocolStringList
+        getJointNamesList() {
+      return jointNames_;
+    }
+    /**
+     * repeated string joint_names = 4;
+     * @return The count of jointNames.
+     */
+    public int getJointNamesCount() {
+      return jointNames_.size();
+    }
+    /**
+     * repeated string joint_names = 4;
+     * @param index The index of the element to return.
+     * @return The jointNames at the given index.
+     */
+    public java.lang.String getJointNames(int index) {
+      return jointNames_.get(index);
+    }
+    /**
+     * repeated string joint_names = 4;
+     * @param index The index of the value to return.
+     * @return The bytes of the jointNames at the given index.
+     */
+    public com.google.protobuf.ByteString
+        getJointNamesBytes(int index) {
+      return jointNames_.getByteString(index);
+    }
+
+    public static final int POSITION_UNIT_FIELD_NUMBER = 5;
+    private volatile java.lang.Object positionUnit_;
+    /**
+     * string position_unit = 5;
+     * @return The positionUnit.
+     */
+    @java.lang.Override
+    public java.lang.String getPositionUnit() {
+      java.lang.Object ref = positionUnit_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        positionUnit_ = s;
+        return s;
+      }
+    }
+    /**
+     * string position_unit = 5;
+     * @return The bytes for positionUnit.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getPositionUnitBytes() {
+      java.lang.Object ref = positionUnit_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        positionUnit_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int VELOCITY_UNIT_FIELD_NUMBER = 6;
+    private volatile java.lang.Object velocityUnit_;
+    /**
+     * string velocity_unit = 6;
+     * @return The velocityUnit.
+     */
+    @java.lang.Override
+    public java.lang.String getVelocityUnit() {
+      java.lang.Object ref = velocityUnit_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        velocityUnit_ = s;
+        return s;
+      }
+    }
+    /**
+     * string velocity_unit = 6;
+     * @return The bytes for velocityUnit.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getVelocityUnitBytes() {
+      java.lang.Object ref = velocityUnit_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        velocityUnit_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int EFFORT_UNIT_FIELD_NUMBER = 7;
+    private volatile java.lang.Object effortUnit_;
+    /**
+     * string effort_unit = 7;
+     * @return The effortUnit.
+     */
+    @java.lang.Override
+    public java.lang.String getEffortUnit() {
+      java.lang.Object ref = effortUnit_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        effortUnit_ = s;
+        return s;
+      }
+    }
+    /**
+     * string effort_unit = 7;
+     * @return The bytes for effortUnit.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getEffortUnitBytes() {
+      java.lang.Object ref = effortUnit_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        effortUnit_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int BASE_FRAME_FIELD_NUMBER = 8;
+    private volatile java.lang.Object baseFrame_;
+    /**
+     * string base_frame = 8;
+     * @return The baseFrame.
+     */
+    @java.lang.Override
+    public java.lang.String getBaseFrame() {
+      java.lang.Object ref = baseFrame_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        baseFrame_ = s;
+        return s;
+      }
+    }
+    /**
+     * string base_frame = 8;
+     * @return The bytes for baseFrame.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getBaseFrameBytes() {
+      java.lang.Object ref = baseFrame_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        baseFrame_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int TOOL_FRAME_FIELD_NUMBER = 9;
+    private volatile java.lang.Object toolFrame_;
+    /**
+     * string tool_frame = 9;
+     * @return The toolFrame.
+     */
+    @java.lang.Override
+    public java.lang.String getToolFrame() {
+      java.lang.Object ref = toolFrame_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        toolFrame_ = s;
+        return s;
+      }
+    }
+    /**
+     * string tool_frame = 9;
+     * @return The bytes for toolFrame.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getToolFrameBytes() {
+      java.lang.Object ref = toolFrame_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        toolFrame_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(robotId_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 1, robotId_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(modelSha256_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 2, modelSha256_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(calibrationSha256_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 3, calibrationSha256_);
+      }
+      for (int i = 0; i < jointNames_.size(); i++) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 4, jointNames_.getRaw(i));
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(positionUnit_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 5, positionUnit_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(velocityUnit_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 6, velocityUnit_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(effortUnit_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 7, effortUnit_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(baseFrame_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 8, baseFrame_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(toolFrame_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 9, toolFrame_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(robotId_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(1, robotId_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(modelSha256_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, modelSha256_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(calibrationSha256_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(3, calibrationSha256_);
+      }
+      {
+        int dataSize = 0;
+        for (int i = 0; i < jointNames_.size(); i++) {
+          dataSize += computeStringSizeNoTag(jointNames_.getRaw(i));
+        }
+        size += dataSize;
+        size += 1 * getJointNamesList().size();
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(positionUnit_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(5, positionUnit_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(velocityUnit_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(6, velocityUnit_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(effortUnit_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(7, effortUnit_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(baseFrame_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(8, baseFrame_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(toolFrame_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(9, toolFrame_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest)) {
+        return super.equals(obj);
+      }
+      cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest other = (cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest) obj;
+
+      if (!getRobotId()
+          .equals(other.getRobotId())) return false;
+      if (!getModelSha256()
+          .equals(other.getModelSha256())) return false;
+      if (!getCalibrationSha256()
+          .equals(other.getCalibrationSha256())) return false;
+      if (!getJointNamesList()
+          .equals(other.getJointNamesList())) return false;
+      if (!getPositionUnit()
+          .equals(other.getPositionUnit())) return false;
+      if (!getVelocityUnit()
+          .equals(other.getVelocityUnit())) return false;
+      if (!getEffortUnit()
+          .equals(other.getEffortUnit())) return false;
+      if (!getBaseFrame()
+          .equals(other.getBaseFrame())) return false;
+      if (!getToolFrame()
+          .equals(other.getToolFrame())) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (37 * hash) + ROBOT_ID_FIELD_NUMBER;
+      hash = (53 * hash) + getRobotId().hashCode();
+      hash = (37 * hash) + MODEL_SHA256_FIELD_NUMBER;
+      hash = (53 * hash) + getModelSha256().hashCode();
+      hash = (37 * hash) + CALIBRATION_SHA256_FIELD_NUMBER;
+      hash = (53 * hash) + getCalibrationSha256().hashCode();
+      if (getJointNamesCount() > 0) {
+        hash = (37 * hash) + JOINT_NAMES_FIELD_NUMBER;
+        hash = (53 * hash) + getJointNamesList().hashCode();
+      }
+      hash = (37 * hash) + POSITION_UNIT_FIELD_NUMBER;
+      hash = (53 * hash) + getPositionUnit().hashCode();
+      hash = (37 * hash) + VELOCITY_UNIT_FIELD_NUMBER;
+      hash = (53 * hash) + getVelocityUnit().hashCode();
+      hash = (37 * hash) + EFFORT_UNIT_FIELD_NUMBER;
+      hash = (53 * hash) + getEffortUnit().hashCode();
+      hash = (37 * hash) + BASE_FRAME_FIELD_NUMBER;
+      hash = (53 * hash) + getBaseFrame().hashCode();
+      hash = (37 * hash) + TOOL_FRAME_FIELD_NUMBER;
+      hash = (53 * hash) + getToolFrame().hashCode();
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.armteleop.v1.RobotManifest}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.armteleop.v1.RobotManifest)
+        cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifestOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_RobotManifest_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_RobotManifest_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.class, cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.Builder.class);
+      }
+
+      // Construct using cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        robotId_ = "";
+
+        modelSha256_ = "";
+
+        calibrationSha256_ = "";
+
+        jointNames_ = com.google.protobuf.LazyStringArrayList.EMPTY;
+        bitField0_ = (bitField0_ & ~0x00000001);
+        positionUnit_ = "";
+
+        velocityUnit_ = "";
+
+        effortUnit_ = "";
+
+        baseFrame_ = "";
+
+        toolFrame_ = "";
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_RobotManifest_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest getDefaultInstanceForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest build() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest buildPartial() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest result = new cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest(this);
+        int from_bitField0_ = bitField0_;
+        result.robotId_ = robotId_;
+        result.modelSha256_ = modelSha256_;
+        result.calibrationSha256_ = calibrationSha256_;
+        if (((bitField0_ & 0x00000001) != 0)) {
+          jointNames_ = jointNames_.getUnmodifiableView();
+          bitField0_ = (bitField0_ & ~0x00000001);
+        }
+        result.jointNames_ = jointNames_;
+        result.positionUnit_ = positionUnit_;
+        result.velocityUnit_ = velocityUnit_;
+        result.effortUnit_ = effortUnit_;
+        result.baseFrame_ = baseFrame_;
+        result.toolFrame_ = toolFrame_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest) {
+          return mergeFrom((cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest other) {
+        if (other == cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.getDefaultInstance()) return this;
+        if (!other.getRobotId().isEmpty()) {
+          robotId_ = other.robotId_;
+          onChanged();
+        }
+        if (!other.getModelSha256().isEmpty()) {
+          modelSha256_ = other.modelSha256_;
+          onChanged();
+        }
+        if (!other.getCalibrationSha256().isEmpty()) {
+          calibrationSha256_ = other.calibrationSha256_;
+          onChanged();
+        }
+        if (!other.jointNames_.isEmpty()) {
+          if (jointNames_.isEmpty()) {
+            jointNames_ = other.jointNames_;
+            bitField0_ = (bitField0_ & ~0x00000001);
+          } else {
+            ensureJointNamesIsMutable();
+            jointNames_.addAll(other.jointNames_);
+          }
+          onChanged();
+        }
+        if (!other.getPositionUnit().isEmpty()) {
+          positionUnit_ = other.positionUnit_;
+          onChanged();
+        }
+        if (!other.getVelocityUnit().isEmpty()) {
+          velocityUnit_ = other.velocityUnit_;
+          onChanged();
+        }
+        if (!other.getEffortUnit().isEmpty()) {
+          effortUnit_ = other.effortUnit_;
+          onChanged();
+        }
+        if (!other.getBaseFrame().isEmpty()) {
+          baseFrame_ = other.baseFrame_;
+          onChanged();
+        }
+        if (!other.getToolFrame().isEmpty()) {
+          toolFrame_ = other.toolFrame_;
+          onChanged();
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                robotId_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 10
+              case 18: {
+                modelSha256_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 18
+              case 26: {
+                calibrationSha256_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 26
+              case 34: {
+                java.lang.String s = input.readStringRequireUtf8();
+                ensureJointNamesIsMutable();
+                jointNames_.add(s);
+                break;
+              } // case 34
+              case 42: {
+                positionUnit_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 42
+              case 50: {
+                velocityUnit_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 50
+              case 58: {
+                effortUnit_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 58
+              case 66: {
+                baseFrame_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 66
+              case 74: {
+                toolFrame_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 74
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int bitField0_;
+
+      private java.lang.Object robotId_ = "";
+      /**
+       * string robot_id = 1;
+       * @return The robotId.
+       */
+      public java.lang.String getRobotId() {
+        java.lang.Object ref = robotId_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          robotId_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string robot_id = 1;
+       * @return The bytes for robotId.
+       */
+      public com.google.protobuf.ByteString
+          getRobotIdBytes() {
+        java.lang.Object ref = robotId_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          robotId_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string robot_id = 1;
+       * @param value The robotId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRobotId(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        robotId_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string robot_id = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearRobotId() {
+        
+        robotId_ = getDefaultInstance().getRobotId();
+        onChanged();
+        return this;
+      }
+      /**
+       * string robot_id = 1;
+       * @param value The bytes for robotId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRobotIdBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        robotId_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object modelSha256_ = "";
+      /**
+       * string model_sha256 = 2;
+       * @return The modelSha256.
+       */
+      public java.lang.String getModelSha256() {
+        java.lang.Object ref = modelSha256_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          modelSha256_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string model_sha256 = 2;
+       * @return The bytes for modelSha256.
+       */
+      public com.google.protobuf.ByteString
+          getModelSha256Bytes() {
+        java.lang.Object ref = modelSha256_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          modelSha256_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string model_sha256 = 2;
+       * @param value The modelSha256 to set.
+       * @return This builder for chaining.
+       */
+      public Builder setModelSha256(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        modelSha256_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string model_sha256 = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearModelSha256() {
+        
+        modelSha256_ = getDefaultInstance().getModelSha256();
+        onChanged();
+        return this;
+      }
+      /**
+       * string model_sha256 = 2;
+       * @param value The bytes for modelSha256 to set.
+       * @return This builder for chaining.
+       */
+      public Builder setModelSha256Bytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        modelSha256_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object calibrationSha256_ = "";
+      /**
+       * string calibration_sha256 = 3;
+       * @return The calibrationSha256.
+       */
+      public java.lang.String getCalibrationSha256() {
+        java.lang.Object ref = calibrationSha256_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          calibrationSha256_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string calibration_sha256 = 3;
+       * @return The bytes for calibrationSha256.
+       */
+      public com.google.protobuf.ByteString
+          getCalibrationSha256Bytes() {
+        java.lang.Object ref = calibrationSha256_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          calibrationSha256_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string calibration_sha256 = 3;
+       * @param value The calibrationSha256 to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCalibrationSha256(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        calibrationSha256_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string calibration_sha256 = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearCalibrationSha256() {
+        
+        calibrationSha256_ = getDefaultInstance().getCalibrationSha256();
+        onChanged();
+        return this;
+      }
+      /**
+       * string calibration_sha256 = 3;
+       * @param value The bytes for calibrationSha256 to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCalibrationSha256Bytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        calibrationSha256_ = value;
+        onChanged();
+        return this;
+      }
+
+      private com.google.protobuf.LazyStringList jointNames_ = com.google.protobuf.LazyStringArrayList.EMPTY;
+      private void ensureJointNamesIsMutable() {
+        if (!((bitField0_ & 0x00000001) != 0)) {
+          jointNames_ = new com.google.protobuf.LazyStringArrayList(jointNames_);
+          bitField0_ |= 0x00000001;
+         }
+      }
+      /**
+       * repeated string joint_names = 4;
+       * @return A list containing the jointNames.
+       */
+      public com.google.protobuf.ProtocolStringList
+          getJointNamesList() {
+        return jointNames_.getUnmodifiableView();
+      }
+      /**
+       * repeated string joint_names = 4;
+       * @return The count of jointNames.
+       */
+      public int getJointNamesCount() {
+        return jointNames_.size();
+      }
+      /**
+       * repeated string joint_names = 4;
+       * @param index The index of the element to return.
+       * @return The jointNames at the given index.
+       */
+      public java.lang.String getJointNames(int index) {
+        return jointNames_.get(index);
+      }
+      /**
+       * repeated string joint_names = 4;
+       * @param index The index of the value to return.
+       * @return The bytes of the jointNames at the given index.
+       */
+      public com.google.protobuf.ByteString
+          getJointNamesBytes(int index) {
+        return jointNames_.getByteString(index);
+      }
+      /**
+       * repeated string joint_names = 4;
+       * @param index The index to set the value at.
+       * @param value The jointNames to set.
+       * @return This builder for chaining.
+       */
+      public Builder setJointNames(
+          int index, java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  ensureJointNamesIsMutable();
+        jointNames_.set(index, value);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated string joint_names = 4;
+       * @param value The jointNames to add.
+       * @return This builder for chaining.
+       */
+      public Builder addJointNames(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  ensureJointNamesIsMutable();
+        jointNames_.add(value);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated string joint_names = 4;
+       * @param values The jointNames to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllJointNames(
+          java.lang.Iterable values) {
+        ensureJointNamesIsMutable();
+        com.google.protobuf.AbstractMessageLite.Builder.addAll(
+            values, jointNames_);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated string joint_names = 4;
+       * @return This builder for chaining.
+       */
+      public Builder clearJointNames() {
+        jointNames_ = com.google.protobuf.LazyStringArrayList.EMPTY;
+        bitField0_ = (bitField0_ & ~0x00000001);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated string joint_names = 4;
+       * @param value The bytes of the jointNames to add.
+       * @return This builder for chaining.
+       */
+      public Builder addJointNamesBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        ensureJointNamesIsMutable();
+        jointNames_.add(value);
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object positionUnit_ = "";
+      /**
+       * string position_unit = 5;
+       * @return The positionUnit.
+       */
+      public java.lang.String getPositionUnit() {
+        java.lang.Object ref = positionUnit_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          positionUnit_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string position_unit = 5;
+       * @return The bytes for positionUnit.
+       */
+      public com.google.protobuf.ByteString
+          getPositionUnitBytes() {
+        java.lang.Object ref = positionUnit_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          positionUnit_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string position_unit = 5;
+       * @param value The positionUnit to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPositionUnit(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        positionUnit_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string position_unit = 5;
+       * @return This builder for chaining.
+       */
+      public Builder clearPositionUnit() {
+        
+        positionUnit_ = getDefaultInstance().getPositionUnit();
+        onChanged();
+        return this;
+      }
+      /**
+       * string position_unit = 5;
+       * @param value The bytes for positionUnit to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPositionUnitBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        positionUnit_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object velocityUnit_ = "";
+      /**
+       * string velocity_unit = 6;
+       * @return The velocityUnit.
+       */
+      public java.lang.String getVelocityUnit() {
+        java.lang.Object ref = velocityUnit_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          velocityUnit_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string velocity_unit = 6;
+       * @return The bytes for velocityUnit.
+       */
+      public com.google.protobuf.ByteString
+          getVelocityUnitBytes() {
+        java.lang.Object ref = velocityUnit_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          velocityUnit_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string velocity_unit = 6;
+       * @param value The velocityUnit to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVelocityUnit(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        velocityUnit_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string velocity_unit = 6;
+       * @return This builder for chaining.
+       */
+      public Builder clearVelocityUnit() {
+        
+        velocityUnit_ = getDefaultInstance().getVelocityUnit();
+        onChanged();
+        return this;
+      }
+      /**
+       * string velocity_unit = 6;
+       * @param value The bytes for velocityUnit to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVelocityUnitBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        velocityUnit_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object effortUnit_ = "";
+      /**
+       * string effort_unit = 7;
+       * @return The effortUnit.
+       */
+      public java.lang.String getEffortUnit() {
+        java.lang.Object ref = effortUnit_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          effortUnit_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string effort_unit = 7;
+       * @return The bytes for effortUnit.
+       */
+      public com.google.protobuf.ByteString
+          getEffortUnitBytes() {
+        java.lang.Object ref = effortUnit_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          effortUnit_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string effort_unit = 7;
+       * @param value The effortUnit to set.
+       * @return This builder for chaining.
+       */
+      public Builder setEffortUnit(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        effortUnit_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string effort_unit = 7;
+       * @return This builder for chaining.
+       */
+      public Builder clearEffortUnit() {
+        
+        effortUnit_ = getDefaultInstance().getEffortUnit();
+        onChanged();
+        return this;
+      }
+      /**
+       * string effort_unit = 7;
+       * @param value The bytes for effortUnit to set.
+       * @return This builder for chaining.
+       */
+      public Builder setEffortUnitBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        effortUnit_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object baseFrame_ = "";
+      /**
+       * string base_frame = 8;
+       * @return The baseFrame.
+       */
+      public java.lang.String getBaseFrame() {
+        java.lang.Object ref = baseFrame_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          baseFrame_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string base_frame = 8;
+       * @return The bytes for baseFrame.
+       */
+      public com.google.protobuf.ByteString
+          getBaseFrameBytes() {
+        java.lang.Object ref = baseFrame_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          baseFrame_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string base_frame = 8;
+       * @param value The baseFrame to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBaseFrame(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        baseFrame_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string base_frame = 8;
+       * @return This builder for chaining.
+       */
+      public Builder clearBaseFrame() {
+        
+        baseFrame_ = getDefaultInstance().getBaseFrame();
+        onChanged();
+        return this;
+      }
+      /**
+       * string base_frame = 8;
+       * @param value The bytes for baseFrame to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBaseFrameBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        baseFrame_ = value;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object toolFrame_ = "";
+      /**
+       * string tool_frame = 9;
+       * @return The toolFrame.
+       */
+      public java.lang.String getToolFrame() {
+        java.lang.Object ref = toolFrame_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          toolFrame_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string tool_frame = 9;
+       * @return The bytes for toolFrame.
+       */
+      public com.google.protobuf.ByteString
+          getToolFrameBytes() {
+        java.lang.Object ref = toolFrame_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          toolFrame_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string tool_frame = 9;
+       * @param value The toolFrame to set.
+       * @return This builder for chaining.
+       */
+      public Builder setToolFrame(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        toolFrame_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string tool_frame = 9;
+       * @return This builder for chaining.
+       */
+      public Builder clearToolFrame() {
+        
+        toolFrame_ = getDefaultInstance().getToolFrame();
+        onChanged();
+        return this;
+      }
+      /**
+       * string tool_frame = 9;
+       * @param value The bytes for toolFrame to set.
+       * @return This builder for chaining.
+       */
+      public Builder setToolFrameBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        toolFrame_ = value;
+        onChanged();
+        return this;
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+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
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+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.armteleop.v1.RobotManifest)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.armteleop.v1.RobotManifest)
+    private static final cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest();
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public RobotManifest parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface OpenSessionOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.armteleop.v1.OpenSession)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * uint32 protocol_major = 1;
+     * @return The protocolMajor.
+     */
+    int getProtocolMajor();
+
+    /**
+     * uint32 protocol_minor = 2;
+     * @return The protocolMinor.
+     */
+    int getProtocolMinor();
+
+    /**
+     * string client_instance_id = 3;
+     * @return The clientInstanceId.
+     */
+    java.lang.String getClientInstanceId();
+    /**
+     * string client_instance_id = 3;
+     * @return The bytes for clientInstanceId.
+     */
+    com.google.protobuf.ByteString
+        getClientInstanceIdBytes();
+
+    /**
+     * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+     * @return Whether the expectedRobot field is set.
+     */
+    boolean hasExpectedRobot();
+    /**
+     * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+     * @return The expectedRobot.
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest getExpectedRobot();
+    /**
+     * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifestOrBuilder getExpectedRobotOrBuilder();
+
+    /**
+     * uint32 requested_command_rate_hz = 5;
+     * @return The requestedCommandRateHz.
+     */
+    int getRequestedCommandRateHz();
+
+    /**
+     * uint32 requested_state_rate_hz = 6;
+     * @return The requestedStateRateHz.
+     */
+    int getRequestedStateRateHz();
+
+    /**
+     * uint32 watchdog_timeout_ms = 7;
+     * @return The watchdogTimeoutMs.
+     */
+    int getWatchdogTimeoutMs();
+
+    /**
+     * uint32 requested_lease_ms = 8;
+     * @return The requestedLeaseMs.
+     */
+    int getRequestedLeaseMs();
+
+    /**
+     * bool request_force_feedback = 9;
+     * @return The requestForceFeedback.
+     */
+    boolean getRequestForceFeedback();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.armteleop.v1.OpenSession}
+   */
+  public static final class OpenSession extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.armteleop.v1.OpenSession)
+      OpenSessionOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use OpenSession.newBuilder() to construct.
+    private OpenSession(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private OpenSession() {
+      clientInstanceId_ = "";
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new OpenSession();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_OpenSession_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_OpenSession_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.class, cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.Builder.class);
+    }
+
+    public static final int PROTOCOL_MAJOR_FIELD_NUMBER = 1;
+    private int protocolMajor_;
+    /**
+     * uint32 protocol_major = 1;
+     * @return The protocolMajor.
+     */
+    @java.lang.Override
+    public int getProtocolMajor() {
+      return protocolMajor_;
+    }
+
+    public static final int PROTOCOL_MINOR_FIELD_NUMBER = 2;
+    private int protocolMinor_;
+    /**
+     * uint32 protocol_minor = 2;
+     * @return The protocolMinor.
+     */
+    @java.lang.Override
+    public int getProtocolMinor() {
+      return protocolMinor_;
+    }
+
+    public static final int CLIENT_INSTANCE_ID_FIELD_NUMBER = 3;
+    private volatile java.lang.Object clientInstanceId_;
+    /**
+     * string client_instance_id = 3;
+     * @return The clientInstanceId.
+     */
+    @java.lang.Override
+    public java.lang.String getClientInstanceId() {
+      java.lang.Object ref = clientInstanceId_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        clientInstanceId_ = s;
+        return s;
+      }
+    }
+    /**
+     * string client_instance_id = 3;
+     * @return The bytes for clientInstanceId.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getClientInstanceIdBytes() {
+      java.lang.Object ref = clientInstanceId_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        clientInstanceId_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    public static final int EXPECTED_ROBOT_FIELD_NUMBER = 4;
+    private cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest expectedRobot_;
+    /**
+     * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+     * @return Whether the expectedRobot field is set.
+     */
+    @java.lang.Override
+    public boolean hasExpectedRobot() {
+      return expectedRobot_ != null;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+     * @return The expectedRobot.
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest getExpectedRobot() {
+      return expectedRobot_ == null ? cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.getDefaultInstance() : expectedRobot_;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifestOrBuilder getExpectedRobotOrBuilder() {
+      return getExpectedRobot();
+    }
+
+    public static final int REQUESTED_COMMAND_RATE_HZ_FIELD_NUMBER = 5;
+    private int requestedCommandRateHz_;
+    /**
+     * uint32 requested_command_rate_hz = 5;
+     * @return The requestedCommandRateHz.
+     */
+    @java.lang.Override
+    public int getRequestedCommandRateHz() {
+      return requestedCommandRateHz_;
+    }
+
+    public static final int REQUESTED_STATE_RATE_HZ_FIELD_NUMBER = 6;
+    private int requestedStateRateHz_;
+    /**
+     * uint32 requested_state_rate_hz = 6;
+     * @return The requestedStateRateHz.
+     */
+    @java.lang.Override
+    public int getRequestedStateRateHz() {
+      return requestedStateRateHz_;
+    }
+
+    public static final int WATCHDOG_TIMEOUT_MS_FIELD_NUMBER = 7;
+    private int watchdogTimeoutMs_;
+    /**
+     * uint32 watchdog_timeout_ms = 7;
+     * @return The watchdogTimeoutMs.
+     */
+    @java.lang.Override
+    public int getWatchdogTimeoutMs() {
+      return watchdogTimeoutMs_;
+    }
+
+    public static final int REQUESTED_LEASE_MS_FIELD_NUMBER = 8;
+    private int requestedLeaseMs_;
+    /**
+     * uint32 requested_lease_ms = 8;
+     * @return The requestedLeaseMs.
+     */
+    @java.lang.Override
+    public int getRequestedLeaseMs() {
+      return requestedLeaseMs_;
+    }
+
+    public static final int REQUEST_FORCE_FEEDBACK_FIELD_NUMBER = 9;
+    private boolean requestForceFeedback_;
+    /**
+     * bool request_force_feedback = 9;
+     * @return The requestForceFeedback.
+     */
+    @java.lang.Override
+    public boolean getRequestForceFeedback() {
+      return requestForceFeedback_;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
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+      memoizedIsInitialized = 1;
+      return true;
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+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (protocolMajor_ != 0) {
+        output.writeUInt32(1, protocolMajor_);
+      }
+      if (protocolMinor_ != 0) {
+        output.writeUInt32(2, protocolMinor_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(clientInstanceId_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 3, clientInstanceId_);
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+      if (expectedRobot_ != null) {
+        output.writeMessage(4, getExpectedRobot());
+      }
+      if (requestedCommandRateHz_ != 0) {
+        output.writeUInt32(5, requestedCommandRateHz_);
+      }
+      if (requestedStateRateHz_ != 0) {
+        output.writeUInt32(6, requestedStateRateHz_);
+      }
+      if (watchdogTimeoutMs_ != 0) {
+        output.writeUInt32(7, watchdogTimeoutMs_);
+      }
+      if (requestedLeaseMs_ != 0) {
+        output.writeUInt32(8, requestedLeaseMs_);
+      }
+      if (requestForceFeedback_ != false) {
+        output.writeBool(9, requestForceFeedback_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
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+      size = 0;
+      if (protocolMajor_ != 0) {
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+        size += com.google.protobuf.CodedOutputStream
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+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(clientInstanceId_)) {
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+      if (expectedRobot_ != null) {
+        size += com.google.protobuf.CodedOutputStream
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+      if (requestedCommandRateHz_ != 0) {
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+      if (requestedStateRateHz_ != 0) {
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+          .computeUInt32Size(6, requestedStateRateHz_);
+      }
+      if (watchdogTimeoutMs_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(7, watchdogTimeoutMs_);
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+      if (requestedLeaseMs_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(8, requestedLeaseMs_);
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+      if (requestForceFeedback_ != false) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(9, requestForceFeedback_);
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+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession)) {
+        return super.equals(obj);
+      }
+      cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession other = (cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession) obj;
+
+      if (getProtocolMajor()
+          != other.getProtocolMajor()) return false;
+      if (getProtocolMinor()
+          != other.getProtocolMinor()) return false;
+      if (!getClientInstanceId()
+          .equals(other.getClientInstanceId())) return false;
+      if (hasExpectedRobot() != other.hasExpectedRobot()) return false;
+      if (hasExpectedRobot()) {
+        if (!getExpectedRobot()
+            .equals(other.getExpectedRobot())) return false;
+      }
+      if (getRequestedCommandRateHz()
+          != other.getRequestedCommandRateHz()) return false;
+      if (getRequestedStateRateHz()
+          != other.getRequestedStateRateHz()) return false;
+      if (getWatchdogTimeoutMs()
+          != other.getWatchdogTimeoutMs()) return false;
+      if (getRequestedLeaseMs()
+          != other.getRequestedLeaseMs()) return false;
+      if (getRequestForceFeedback()
+          != other.getRequestForceFeedback()) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
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+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
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+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (37 * hash) + PROTOCOL_MAJOR_FIELD_NUMBER;
+      hash = (53 * hash) + getProtocolMajor();
+      hash = (37 * hash) + PROTOCOL_MINOR_FIELD_NUMBER;
+      hash = (53 * hash) + getProtocolMinor();
+      hash = (37 * hash) + CLIENT_INSTANCE_ID_FIELD_NUMBER;
+      hash = (53 * hash) + getClientInstanceId().hashCode();
+      if (hasExpectedRobot()) {
+        hash = (37 * hash) + EXPECTED_ROBOT_FIELD_NUMBER;
+        hash = (53 * hash) + getExpectedRobot().hashCode();
+      }
+      hash = (37 * hash) + REQUESTED_COMMAND_RATE_HZ_FIELD_NUMBER;
+      hash = (53 * hash) + getRequestedCommandRateHz();
+      hash = (37 * hash) + REQUESTED_STATE_RATE_HZ_FIELD_NUMBER;
+      hash = (53 * hash) + getRequestedStateRateHz();
+      hash = (37 * hash) + WATCHDOG_TIMEOUT_MS_FIELD_NUMBER;
+      hash = (53 * hash) + getWatchdogTimeoutMs();
+      hash = (37 * hash) + REQUESTED_LEASE_MS_FIELD_NUMBER;
+      hash = (53 * hash) + getRequestedLeaseMs();
+      hash = (37 * hash) + REQUEST_FORCE_FEEDBACK_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+          getRequestForceFeedback());
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.armteleop.v1.OpenSession}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.armteleop.v1.OpenSession)
+        cmvr.api.armteleop.v1.ArmTeleopV1.OpenSessionOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_OpenSession_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_OpenSession_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.class, cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.Builder.class);
+      }
+
+      // Construct using cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
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+        protocolMajor_ = 0;
+
+        protocolMinor_ = 0;
+
+        clientInstanceId_ = "";
+
+        if (expectedRobotBuilder_ == null) {
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+        } else {
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+          expectedRobotBuilder_ = null;
+        }
+        requestedCommandRateHz_ = 0;
+
+        requestedStateRateHz_ = 0;
+
+        watchdogTimeoutMs_ = 0;
+
+        requestedLeaseMs_ = 0;
+
+        requestForceFeedback_ = false;
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_OpenSession_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession getDefaultInstanceForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession build() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession buildPartial() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession result = new cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession(this);
+        result.protocolMajor_ = protocolMajor_;
+        result.protocolMinor_ = protocolMinor_;
+        result.clientInstanceId_ = clientInstanceId_;
+        if (expectedRobotBuilder_ == null) {
+          result.expectedRobot_ = expectedRobot_;
+        } else {
+          result.expectedRobot_ = expectedRobotBuilder_.build();
+        }
+        result.requestedCommandRateHz_ = requestedCommandRateHz_;
+        result.requestedStateRateHz_ = requestedStateRateHz_;
+        result.watchdogTimeoutMs_ = watchdogTimeoutMs_;
+        result.requestedLeaseMs_ = requestedLeaseMs_;
+        result.requestForceFeedback_ = requestForceFeedback_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession) {
+          return mergeFrom((cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession other) {
+        if (other == cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.getDefaultInstance()) return this;
+        if (other.getProtocolMajor() != 0) {
+          setProtocolMajor(other.getProtocolMajor());
+        }
+        if (other.getProtocolMinor() != 0) {
+          setProtocolMinor(other.getProtocolMinor());
+        }
+        if (!other.getClientInstanceId().isEmpty()) {
+          clientInstanceId_ = other.clientInstanceId_;
+          onChanged();
+        }
+        if (other.hasExpectedRobot()) {
+          mergeExpectedRobot(other.getExpectedRobot());
+        }
+        if (other.getRequestedCommandRateHz() != 0) {
+          setRequestedCommandRateHz(other.getRequestedCommandRateHz());
+        }
+        if (other.getRequestedStateRateHz() != 0) {
+          setRequestedStateRateHz(other.getRequestedStateRateHz());
+        }
+        if (other.getWatchdogTimeoutMs() != 0) {
+          setWatchdogTimeoutMs(other.getWatchdogTimeoutMs());
+        }
+        if (other.getRequestedLeaseMs() != 0) {
+          setRequestedLeaseMs(other.getRequestedLeaseMs());
+        }
+        if (other.getRequestForceFeedback() != false) {
+          setRequestForceFeedback(other.getRequestForceFeedback());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 8: {
+                protocolMajor_ = input.readUInt32();
+
+                break;
+              } // case 8
+              case 16: {
+                protocolMinor_ = input.readUInt32();
+
+                break;
+              } // case 16
+              case 26: {
+                clientInstanceId_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 26
+              case 34: {
+                input.readMessage(
+                    getExpectedRobotFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 34
+              case 40: {
+                requestedCommandRateHz_ = input.readUInt32();
+
+                break;
+              } // case 40
+              case 48: {
+                requestedStateRateHz_ = input.readUInt32();
+
+                break;
+              } // case 48
+              case 56: {
+                watchdogTimeoutMs_ = input.readUInt32();
+
+                break;
+              } // case 56
+              case 64: {
+                requestedLeaseMs_ = input.readUInt32();
+
+                break;
+              } // case 64
+              case 72: {
+                requestForceFeedback_ = input.readBool();
+
+                break;
+              } // case 72
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private int protocolMajor_ ;
+      /**
+       * uint32 protocol_major = 1;
+       * @return The protocolMajor.
+       */
+      @java.lang.Override
+      public int getProtocolMajor() {
+        return protocolMajor_;
+      }
+      /**
+       * uint32 protocol_major = 1;
+       * @param value The protocolMajor to set.
+       * @return This builder for chaining.
+       */
+      public Builder setProtocolMajor(int value) {
+        
+        protocolMajor_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint32 protocol_major = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearProtocolMajor() {
+        
+        protocolMajor_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int protocolMinor_ ;
+      /**
+       * uint32 protocol_minor = 2;
+       * @return The protocolMinor.
+       */
+      @java.lang.Override
+      public int getProtocolMinor() {
+        return protocolMinor_;
+      }
+      /**
+       * uint32 protocol_minor = 2;
+       * @param value The protocolMinor to set.
+       * @return This builder for chaining.
+       */
+      public Builder setProtocolMinor(int value) {
+        
+        protocolMinor_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint32 protocol_minor = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearProtocolMinor() {
+        
+        protocolMinor_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object clientInstanceId_ = "";
+      /**
+       * string client_instance_id = 3;
+       * @return The clientInstanceId.
+       */
+      public java.lang.String getClientInstanceId() {
+        java.lang.Object ref = clientInstanceId_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          clientInstanceId_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string client_instance_id = 3;
+       * @return The bytes for clientInstanceId.
+       */
+      public com.google.protobuf.ByteString
+          getClientInstanceIdBytes() {
+        java.lang.Object ref = clientInstanceId_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          clientInstanceId_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string client_instance_id = 3;
+       * @param value The clientInstanceId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setClientInstanceId(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        clientInstanceId_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string client_instance_id = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearClientInstanceId() {
+        
+        clientInstanceId_ = getDefaultInstance().getClientInstanceId();
+        onChanged();
+        return this;
+      }
+      /**
+       * string client_instance_id = 3;
+       * @param value The bytes for clientInstanceId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setClientInstanceIdBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        clientInstanceId_ = value;
+        onChanged();
+        return this;
+      }
+
+      private cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest expectedRobot_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest, cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifestOrBuilder> expectedRobotBuilder_;
+      /**
+       * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+       * @return Whether the expectedRobot field is set.
+       */
+      public boolean hasExpectedRobot() {
+        return expectedRobotBuilder_ != null || expectedRobot_ != null;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+       * @return The expectedRobot.
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest getExpectedRobot() {
+        if (expectedRobotBuilder_ == null) {
+          return expectedRobot_ == null ? cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.getDefaultInstance() : expectedRobot_;
+        } else {
+          return expectedRobotBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+       */
+      public Builder setExpectedRobot(cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest value) {
+        if (expectedRobotBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          expectedRobot_ = value;
+          onChanged();
+        } else {
+          expectedRobotBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+       */
+      public Builder setExpectedRobot(
+          cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.Builder builderForValue) {
+        if (expectedRobotBuilder_ == null) {
+          expectedRobot_ = builderForValue.build();
+          onChanged();
+        } else {
+          expectedRobotBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+       */
+      public Builder mergeExpectedRobot(cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest value) {
+        if (expectedRobotBuilder_ == null) {
+          if (expectedRobot_ != null) {
+            expectedRobot_ =
+              cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.newBuilder(expectedRobot_).mergeFrom(value).buildPartial();
+          } else {
+            expectedRobot_ = value;
+          }
+          onChanged();
+        } else {
+          expectedRobotBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+       */
+      public Builder clearExpectedRobot() {
+        if (expectedRobotBuilder_ == null) {
+          expectedRobot_ = null;
+          onChanged();
+        } else {
+          expectedRobot_ = null;
+          expectedRobotBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.Builder getExpectedRobotBuilder() {
+        
+        onChanged();
+        return getExpectedRobotFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifestOrBuilder getExpectedRobotOrBuilder() {
+        if (expectedRobotBuilder_ != null) {
+          return expectedRobotBuilder_.getMessageOrBuilder();
+        } else {
+          return expectedRobot_ == null ?
+              cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.getDefaultInstance() : expectedRobot_;
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotManifest expected_robot = 4;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest, cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifestOrBuilder> 
+          getExpectedRobotFieldBuilder() {
+        if (expectedRobotBuilder_ == null) {
+          expectedRobotBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest, cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifest.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.RobotManifestOrBuilder>(
+                  getExpectedRobot(),
+                  getParentForChildren(),
+                  isClean());
+          expectedRobot_ = null;
+        }
+        return expectedRobotBuilder_;
+      }
+
+      private int requestedCommandRateHz_ ;
+      /**
+       * uint32 requested_command_rate_hz = 5;
+       * @return The requestedCommandRateHz.
+       */
+      @java.lang.Override
+      public int getRequestedCommandRateHz() {
+        return requestedCommandRateHz_;
+      }
+      /**
+       * uint32 requested_command_rate_hz = 5;
+       * @param value The requestedCommandRateHz to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRequestedCommandRateHz(int value) {
+        
+        requestedCommandRateHz_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint32 requested_command_rate_hz = 5;
+       * @return This builder for chaining.
+       */
+      public Builder clearRequestedCommandRateHz() {
+        
+        requestedCommandRateHz_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int requestedStateRateHz_ ;
+      /**
+       * uint32 requested_state_rate_hz = 6;
+       * @return The requestedStateRateHz.
+       */
+      @java.lang.Override
+      public int getRequestedStateRateHz() {
+        return requestedStateRateHz_;
+      }
+      /**
+       * uint32 requested_state_rate_hz = 6;
+       * @param value The requestedStateRateHz to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRequestedStateRateHz(int value) {
+        
+        requestedStateRateHz_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint32 requested_state_rate_hz = 6;
+       * @return This builder for chaining.
+       */
+      public Builder clearRequestedStateRateHz() {
+        
+        requestedStateRateHz_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int watchdogTimeoutMs_ ;
+      /**
+       * uint32 watchdog_timeout_ms = 7;
+       * @return The watchdogTimeoutMs.
+       */
+      @java.lang.Override
+      public int getWatchdogTimeoutMs() {
+        return watchdogTimeoutMs_;
+      }
+      /**
+       * uint32 watchdog_timeout_ms = 7;
+       * @param value The watchdogTimeoutMs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setWatchdogTimeoutMs(int value) {
+        
+        watchdogTimeoutMs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint32 watchdog_timeout_ms = 7;
+       * @return This builder for chaining.
+       */
+      public Builder clearWatchdogTimeoutMs() {
+        
+        watchdogTimeoutMs_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int requestedLeaseMs_ ;
+      /**
+       * uint32 requested_lease_ms = 8;
+       * @return The requestedLeaseMs.
+       */
+      @java.lang.Override
+      public int getRequestedLeaseMs() {
+        return requestedLeaseMs_;
+      }
+      /**
+       * uint32 requested_lease_ms = 8;
+       * @param value The requestedLeaseMs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRequestedLeaseMs(int value) {
+        
+        requestedLeaseMs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint32 requested_lease_ms = 8;
+       * @return This builder for chaining.
+       */
+      public Builder clearRequestedLeaseMs() {
+        
+        requestedLeaseMs_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private boolean requestForceFeedback_ ;
+      /**
+       * bool request_force_feedback = 9;
+       * @return The requestForceFeedback.
+       */
+      @java.lang.Override
+      public boolean getRequestForceFeedback() {
+        return requestForceFeedback_;
+      }
+      /**
+       * bool request_force_feedback = 9;
+       * @param value The requestForceFeedback to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRequestForceFeedback(boolean value) {
+        
+        requestForceFeedback_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool request_force_feedback = 9;
+       * @return This builder for chaining.
+       */
+      public Builder clearRequestForceFeedback() {
+        
+        requestForceFeedback_ = false;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.armteleop.v1.OpenSession)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.armteleop.v1.OpenSession)
+    private static final cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession();
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public OpenSession parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface JointSetpointOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.armteleop.v1.JointSetpoint)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * 
+     * Strictly increasing and non-zero within a session.
+     * 

+     *
+     * uint64 sequence = 1;
+     * @return The sequence.
+     */
+    long getSequence();
+
+    /**
+     * repeated double position_rad = 2;
+     * @return A list containing the positionRad.
+     */
+    java.util.List getPositionRadList();
+    /**
+     * repeated double position_rad = 2;
+     * @return The count of positionRad.
+     */
+    int getPositionRadCount();
+    /**
+     * repeated double position_rad = 2;
+     * @param index The index of the element to return.
+     * @return The positionRad at the given index.
+     */
+    double getPositionRad(int index);
+
+    /**
+     * repeated double velocity_rad_s = 3;
+     * @return A list containing the velocityRadS.
+     */
+    java.util.List getVelocityRadSList();
+    /**
+     * repeated double velocity_rad_s = 3;
+     * @return The count of velocityRadS.
+     */
+    int getVelocityRadSCount();
+    /**
+     * repeated double velocity_rad_s = 3;
+     * @param index The index of the element to return.
+     * @return The velocityRadS at the given index.
+     */
+    double getVelocityRadS(int index);
+
+    /**
+     * 
+     * The receiver computes its deadline from local arrival time plus this
+     * duration. Zero is invalid for an active setpoint.
+     * 

+     *
+     * uint32 valid_for_us = 4;
+     * @return The validForUs.
+     */
+    int getValidForUs();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.armteleop.v1.JointSetpoint}
+   */
+  public static final class JointSetpoint extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.armteleop.v1.JointSetpoint)
+      JointSetpointOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use JointSetpoint.newBuilder() to construct.
+    private JointSetpoint(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private JointSetpoint() {
+      positionRad_ = emptyDoubleList();
+      velocityRadS_ = emptyDoubleList();
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new JointSetpoint();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_JointSetpoint_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_JointSetpoint_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.class, cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.Builder.class);
+    }
+
+    public static final int SEQUENCE_FIELD_NUMBER = 1;
+    private long sequence_;
+    /**
+     * 
+     * Strictly increasing and non-zero within a session.
+     * 

+     *
+     * uint64 sequence = 1;
+     * @return The sequence.
+     */
+    @java.lang.Override
+    public long getSequence() {
+      return sequence_;
+    }
+
+    public static final int POSITION_RAD_FIELD_NUMBER = 2;
+    private com.google.protobuf.Internal.DoubleList positionRad_;
+    /**
+     * repeated double position_rad = 2;
+     * @return A list containing the positionRad.
+     */
+    @java.lang.Override
+    public java.util.List
+        getPositionRadList() {
+      return positionRad_;
+    }
+    /**
+     * repeated double position_rad = 2;
+     * @return The count of positionRad.
+     */
+    public int getPositionRadCount() {
+      return positionRad_.size();
+    }
+    /**
+     * repeated double position_rad = 2;
+     * @param index The index of the element to return.
+     * @return The positionRad at the given index.
+     */
+    public double getPositionRad(int index) {
+      return positionRad_.getDouble(index);
+    }
+    private int positionRadMemoizedSerializedSize = -1;
+
+    public static final int VELOCITY_RAD_S_FIELD_NUMBER = 3;
+    private com.google.protobuf.Internal.DoubleList velocityRadS_;
+    /**
+     * repeated double velocity_rad_s = 3;
+     * @return A list containing the velocityRadS.
+     */
+    @java.lang.Override
+    public java.util.List
+        getVelocityRadSList() {
+      return velocityRadS_;
+    }
+    /**
+     * repeated double velocity_rad_s = 3;
+     * @return The count of velocityRadS.
+     */
+    public int getVelocityRadSCount() {
+      return velocityRadS_.size();
+    }
+    /**
+     * repeated double velocity_rad_s = 3;
+     * @param index The index of the element to return.
+     * @return The velocityRadS at the given index.
+     */
+    public double getVelocityRadS(int index) {
+      return velocityRadS_.getDouble(index);
+    }
+    private int velocityRadSMemoizedSerializedSize = -1;
+
+    public static final int VALID_FOR_US_FIELD_NUMBER = 4;
+    private int validForUs_;
+    /**
+     * 
+     * The receiver computes its deadline from local arrival time plus this
+     * duration. Zero is invalid for an active setpoint.
+     * 

+     *
+     * uint32 valid_for_us = 4;
+     * @return The validForUs.
+     */
+    @java.lang.Override
+    public int getValidForUs() {
+      return validForUs_;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      getSerializedSize();
+      if (sequence_ != 0L) {
+        output.writeUInt64(1, sequence_);
+      }
+      if (getPositionRadList().size() > 0) {
+        output.writeUInt32NoTag(18);
+        output.writeUInt32NoTag(positionRadMemoizedSerializedSize);
+      }
+      for (int i = 0; i < positionRad_.size(); i++) {
+        output.writeDoubleNoTag(positionRad_.getDouble(i));
+      }
+      if (getVelocityRadSList().size() > 0) {
+        output.writeUInt32NoTag(26);
+        output.writeUInt32NoTag(velocityRadSMemoizedSerializedSize);
+      }
+      for (int i = 0; i < velocityRadS_.size(); i++) {
+        output.writeDoubleNoTag(velocityRadS_.getDouble(i));
+      }
+      if (validForUs_ != 0) {
+        output.writeUInt32(4, validForUs_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (sequence_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt64Size(1, sequence_);
+      }
+      {
+        int dataSize = 0;
+        dataSize = 8 * getPositionRadList().size();
+        size += dataSize;
+        if (!getPositionRadList().isEmpty()) {
+          size += 1;
+          size += com.google.protobuf.CodedOutputStream
+              .computeInt32SizeNoTag(dataSize);
+        }
+        positionRadMemoizedSerializedSize = dataSize;
+      }
+      {
+        int dataSize = 0;
+        dataSize = 8 * getVelocityRadSList().size();
+        size += dataSize;
+        if (!getVelocityRadSList().isEmpty()) {
+          size += 1;
+          size += com.google.protobuf.CodedOutputStream
+              .computeInt32SizeNoTag(dataSize);
+        }
+        velocityRadSMemoizedSerializedSize = dataSize;
+      }
+      if (validForUs_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(4, validForUs_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint)) {
+        return super.equals(obj);
+      }
+      cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint other = (cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint) obj;
+
+      if (getSequence()
+          != other.getSequence()) return false;
+      if (!getPositionRadList()
+          .equals(other.getPositionRadList())) return false;
+      if (!getVelocityRadSList()
+          .equals(other.getVelocityRadSList())) return false;
+      if (getValidForUs()
+          != other.getValidForUs()) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (37 * hash) + SEQUENCE_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          getSequence());
+      if (getPositionRadCount() > 0) {
+        hash = (37 * hash) + POSITION_RAD_FIELD_NUMBER;
+        hash = (53 * hash) + getPositionRadList().hashCode();
+      }
+      if (getVelocityRadSCount() > 0) {
+        hash = (37 * hash) + VELOCITY_RAD_S_FIELD_NUMBER;
+        hash = (53 * hash) + getVelocityRadSList().hashCode();
+      }
+      hash = (37 * hash) + VALID_FOR_US_FIELD_NUMBER;
+      hash = (53 * hash) + getValidForUs();
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.armteleop.v1.JointSetpoint}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.armteleop.v1.JointSetpoint)
+        cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpointOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_JointSetpoint_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_JointSetpoint_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.class, cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.Builder.class);
+      }
+
+      // Construct using cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        sequence_ = 0L;
+
+        positionRad_ = emptyDoubleList();
+        bitField0_ = (bitField0_ & ~0x00000001);
+        velocityRadS_ = emptyDoubleList();
+        bitField0_ = (bitField0_ & ~0x00000002);
+        validForUs_ = 0;
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_JointSetpoint_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint getDefaultInstanceForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint build() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint buildPartial() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint result = new cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint(this);
+        int from_bitField0_ = bitField0_;
+        result.sequence_ = sequence_;
+        if (((bitField0_ & 0x00000001) != 0)) {
+          positionRad_.makeImmutable();
+          bitField0_ = (bitField0_ & ~0x00000001);
+        }
+        result.positionRad_ = positionRad_;
+        if (((bitField0_ & 0x00000002) != 0)) {
+          velocityRadS_.makeImmutable();
+          bitField0_ = (bitField0_ & ~0x00000002);
+        }
+        result.velocityRadS_ = velocityRadS_;
+        result.validForUs_ = validForUs_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint) {
+          return mergeFrom((cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint other) {
+        if (other == cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.getDefaultInstance()) return this;
+        if (other.getSequence() != 0L) {
+          setSequence(other.getSequence());
+        }
+        if (!other.positionRad_.isEmpty()) {
+          if (positionRad_.isEmpty()) {
+            positionRad_ = other.positionRad_;
+            bitField0_ = (bitField0_ & ~0x00000001);
+          } else {
+            ensurePositionRadIsMutable();
+            positionRad_.addAll(other.positionRad_);
+          }
+          onChanged();
+        }
+        if (!other.velocityRadS_.isEmpty()) {
+          if (velocityRadS_.isEmpty()) {
+            velocityRadS_ = other.velocityRadS_;
+            bitField0_ = (bitField0_ & ~0x00000002);
+          } else {
+            ensureVelocityRadSIsMutable();
+            velocityRadS_.addAll(other.velocityRadS_);
+          }
+          onChanged();
+        }
+        if (other.getValidForUs() != 0) {
+          setValidForUs(other.getValidForUs());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 8: {
+                sequence_ = input.readUInt64();
+
+                break;
+              } // case 8
+              case 17: {
+                double v = input.readDouble();
+                ensurePositionRadIsMutable();
+                positionRad_.addDouble(v);
+                break;
+              } // case 17
+              case 18: {
+                int length = input.readRawVarint32();
+                int limit = input.pushLimit(length);
+                ensurePositionRadIsMutable();
+                while (input.getBytesUntilLimit() > 0) {
+                  positionRad_.addDouble(input.readDouble());
+                }
+                input.popLimit(limit);
+                break;
+              } // case 18
+              case 25: {
+                double v = input.readDouble();
+                ensureVelocityRadSIsMutable();
+                velocityRadS_.addDouble(v);
+                break;
+              } // case 25
+              case 26: {
+                int length = input.readRawVarint32();
+                int limit = input.pushLimit(length);
+                ensureVelocityRadSIsMutable();
+                while (input.getBytesUntilLimit() > 0) {
+                  velocityRadS_.addDouble(input.readDouble());
+                }
+                input.popLimit(limit);
+                break;
+              } // case 26
+              case 32: {
+                validForUs_ = input.readUInt32();
+
+                break;
+              } // case 32
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int bitField0_;
+
+      private long sequence_ ;
+      /**
+       * 
+       * Strictly increasing and non-zero within a session.
+       * 

+       *
+       * uint64 sequence = 1;
+       * @return The sequence.
+       */
+      @java.lang.Override
+      public long getSequence() {
+        return sequence_;
+      }
+      /**
+       * 
+       * Strictly increasing and non-zero within a session.
+       * 

+       *
+       * uint64 sequence = 1;
+       * @param value The sequence to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSequence(long value) {
+        
+        sequence_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * Strictly increasing and non-zero within a session.
+       * 

+       *
+       * uint64 sequence = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearSequence() {
+        
+        sequence_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private com.google.protobuf.Internal.DoubleList positionRad_ = emptyDoubleList();
+      private void ensurePositionRadIsMutable() {
+        if (!((bitField0_ & 0x00000001) != 0)) {
+          positionRad_ = mutableCopy(positionRad_);
+          bitField0_ |= 0x00000001;
+         }
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @return A list containing the positionRad.
+       */
+      public java.util.List
+          getPositionRadList() {
+        return ((bitField0_ & 0x00000001) != 0) ?
+                 java.util.Collections.unmodifiableList(positionRad_) : positionRad_;
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @return The count of positionRad.
+       */
+      public int getPositionRadCount() {
+        return positionRad_.size();
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @param index The index of the element to return.
+       * @return The positionRad at the given index.
+       */
+      public double getPositionRad(int index) {
+        return positionRad_.getDouble(index);
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @param index The index to set the value at.
+       * @param value The positionRad to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPositionRad(
+          int index, double value) {
+        ensurePositionRadIsMutable();
+        positionRad_.setDouble(index, value);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @param value The positionRad to add.
+       * @return This builder for chaining.
+       */
+      public Builder addPositionRad(double value) {
+        ensurePositionRadIsMutable();
+        positionRad_.addDouble(value);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @param values The positionRad to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllPositionRad(
+          java.lang.Iterable values) {
+        ensurePositionRadIsMutable();
+        com.google.protobuf.AbstractMessageLite.Builder.addAll(
+            values, positionRad_);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearPositionRad() {
+        positionRad_ = emptyDoubleList();
+        bitField0_ = (bitField0_ & ~0x00000001);
+        onChanged();
+        return this;
+      }
+
+      private com.google.protobuf.Internal.DoubleList velocityRadS_ = emptyDoubleList();
+      private void ensureVelocityRadSIsMutable() {
+        if (!((bitField0_ & 0x00000002) != 0)) {
+          velocityRadS_ = mutableCopy(velocityRadS_);
+          bitField0_ |= 0x00000002;
+         }
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @return A list containing the velocityRadS.
+       */
+      public java.util.List
+          getVelocityRadSList() {
+        return ((bitField0_ & 0x00000002) != 0) ?
+                 java.util.Collections.unmodifiableList(velocityRadS_) : velocityRadS_;
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @return The count of velocityRadS.
+       */
+      public int getVelocityRadSCount() {
+        return velocityRadS_.size();
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @param index The index of the element to return.
+       * @return The velocityRadS at the given index.
+       */
+      public double getVelocityRadS(int index) {
+        return velocityRadS_.getDouble(index);
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @param index The index to set the value at.
+       * @param value The velocityRadS to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVelocityRadS(
+          int index, double value) {
+        ensureVelocityRadSIsMutable();
+        velocityRadS_.setDouble(index, value);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @param value The velocityRadS to add.
+       * @return This builder for chaining.
+       */
+      public Builder addVelocityRadS(double value) {
+        ensureVelocityRadSIsMutable();
+        velocityRadS_.addDouble(value);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @param values The velocityRadS to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllVelocityRadS(
+          java.lang.Iterable values) {
+        ensureVelocityRadSIsMutable();
+        com.google.protobuf.AbstractMessageLite.Builder.addAll(
+            values, velocityRadS_);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearVelocityRadS() {
+        velocityRadS_ = emptyDoubleList();
+        bitField0_ = (bitField0_ & ~0x00000002);
+        onChanged();
+        return this;
+      }
+
+      private int validForUs_ ;
+      /**
+       * 
+       * The receiver computes its deadline from local arrival time plus this
+       * duration. Zero is invalid for an active setpoint.
+       * 

+       *
+       * uint32 valid_for_us = 4;
+       * @return The validForUs.
+       */
+      @java.lang.Override
+      public int getValidForUs() {
+        return validForUs_;
+      }
+      /**
+       * 
+       * The receiver computes its deadline from local arrival time plus this
+       * duration. Zero is invalid for an active setpoint.
+       * 

+       *
+       * uint32 valid_for_us = 4;
+       * @param value The validForUs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setValidForUs(int value) {
+        
+        validForUs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * The receiver computes its deadline from local arrival time plus this
+       * duration. Zero is invalid for an active setpoint.
+       * 

+       *
+       * uint32 valid_for_us = 4;
+       * @return This builder for chaining.
+       */
+      public Builder clearValidForUs() {
+        
+        validForUs_ = 0;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.armteleop.v1.JointSetpoint)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.armteleop.v1.JointSetpoint)
+    private static final cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint();
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public JointSetpoint parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface ClientHeartbeatOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.armteleop.v1.ClientHeartbeat)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * uint64 sequence = 1;
+     * @return The sequence.
+     */
+    long getSequence();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.armteleop.v1.ClientHeartbeat}
+   */
+  public static final class ClientHeartbeat extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.armteleop.v1.ClientHeartbeat)
+      ClientHeartbeatOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use ClientHeartbeat.newBuilder() to construct.
+    private ClientHeartbeat(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private ClientHeartbeat() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new ClientHeartbeat();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ClientHeartbeat_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ClientHeartbeat_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.class, cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.Builder.class);
+    }
+
+    public static final int SEQUENCE_FIELD_NUMBER = 1;
+    private long sequence_;
+    /**
+     * uint64 sequence = 1;
+     * @return The sequence.
+     */
+    @java.lang.Override
+    public long getSequence() {
+      return sequence_;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (sequence_ != 0L) {
+        output.writeUInt64(1, sequence_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (sequence_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt64Size(1, sequence_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat)) {
+        return super.equals(obj);
+      }
+      cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat other = (cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat) obj;
+
+      if (getSequence()
+          != other.getSequence()) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (37 * hash) + SEQUENCE_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
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+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.armteleop.v1.ClientHeartbeat}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.armteleop.v1.ClientHeartbeat)
+        cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeatOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ClientHeartbeat_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ClientHeartbeat_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.class, cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.Builder.class);
+      }
+
+      // Construct using cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        sequence_ = 0L;
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ClientHeartbeat_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat getDefaultInstanceForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat build() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat buildPartial() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat result = new cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat(this);
+        result.sequence_ = sequence_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat) {
+          return mergeFrom((cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat other) {
+        if (other == cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.getDefaultInstance()) return this;
+        if (other.getSequence() != 0L) {
+          setSequence(other.getSequence());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 8: {
+                sequence_ = input.readUInt64();
+
+                break;
+              } // case 8
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
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+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private long sequence_ ;
+      /**
+       * uint64 sequence = 1;
+       * @return The sequence.
+       */
+      @java.lang.Override
+      public long getSequence() {
+        return sequence_;
+      }
+      /**
+       * uint64 sequence = 1;
+       * @param value The sequence to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSequence(long value) {
+        
+        sequence_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 sequence = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearSequence() {
+        
+        sequence_ = 0L;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.armteleop.v1.ClientHeartbeat)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.armteleop.v1.ClientHeartbeat)
+    private static final cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat();
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public ClientHeartbeat parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface StopSessionOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.armteleop.v1.StopSession)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.armteleop.v1.StopReason reason = 1;
+     * @return The enum numeric value on the wire for reason.
+     */
+    int getReasonValue();
+    /**
+     * .cmvr.api.armteleop.v1.StopReason reason = 1;
+     * @return The reason.
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.StopReason getReason();
+
+    /**
+     * string detail = 2;
+     * @return The detail.
+     */
+    java.lang.String getDetail();
+    /**
+     * string detail = 2;
+     * @return The bytes for detail.
+     */
+    com.google.protobuf.ByteString
+        getDetailBytes();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.armteleop.v1.StopSession}
+   */
+  public static final class StopSession extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.armteleop.v1.StopSession)
+      StopSessionOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use StopSession.newBuilder() to construct.
+    private StopSession(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private StopSession() {
+      reason_ = 0;
+      detail_ = "";
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new StopSession();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_StopSession_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_StopSession_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.class, cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.Builder.class);
+    }
+
+    public static final int REASON_FIELD_NUMBER = 1;
+    private int reason_;
+    /**
+     * .cmvr.api.armteleop.v1.StopReason reason = 1;
+     * @return The enum numeric value on the wire for reason.
+     */
+    @java.lang.Override public int getReasonValue() {
+      return reason_;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.StopReason reason = 1;
+     * @return The reason.
+     */
+    @java.lang.Override public cmvr.api.armteleop.v1.ArmTeleopV1.StopReason getReason() {
+      @SuppressWarnings("deprecation")
+      cmvr.api.armteleop.v1.ArmTeleopV1.StopReason result = cmvr.api.armteleop.v1.ArmTeleopV1.StopReason.valueOf(reason_);
+      return result == null ? cmvr.api.armteleop.v1.ArmTeleopV1.StopReason.UNRECOGNIZED : result;
+    }
+
+    public static final int DETAIL_FIELD_NUMBER = 2;
+    private volatile java.lang.Object detail_;
+    /**
+     * string detail = 2;
+     * @return The detail.
+     */
+    @java.lang.Override
+    public java.lang.String getDetail() {
+      java.lang.Object ref = detail_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
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+        java.lang.String s = bs.toStringUtf8();
+        detail_ = s;
+        return s;
+      }
+    }
+    /**
+     * string detail = 2;
+     * @return The bytes for detail.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getDetailBytes() {
+      java.lang.Object ref = detail_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        detail_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (reason_ != cmvr.api.armteleop.v1.ArmTeleopV1.StopReason.STOP_REASON_UNSPECIFIED.getNumber()) {
+        output.writeEnum(1, reason_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(detail_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 2, detail_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (reason_ != cmvr.api.armteleop.v1.ArmTeleopV1.StopReason.STOP_REASON_UNSPECIFIED.getNumber()) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeEnumSize(1, reason_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(detail_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, detail_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.armteleop.v1.ArmTeleopV1.StopSession)) {
+        return super.equals(obj);
+      }
+      cmvr.api.armteleop.v1.ArmTeleopV1.StopSession other = (cmvr.api.armteleop.v1.ArmTeleopV1.StopSession) obj;
+
+      if (reason_ != other.reason_) return false;
+      if (!getDetail()
+          .equals(other.getDetail())) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (37 * hash) + REASON_FIELD_NUMBER;
+      hash = (53 * hash) + reason_;
+      hash = (37 * hash) + DETAIL_FIELD_NUMBER;
+      hash = (53 * hash) + getDetail().hashCode();
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.armteleop.v1.ArmTeleopV1.StopSession prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.armteleop.v1.StopSession}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.armteleop.v1.StopSession)
+        cmvr.api.armteleop.v1.ArmTeleopV1.StopSessionOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_StopSession_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_StopSession_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.class, cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.Builder.class);
+      }
+
+      // Construct using cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        reason_ = 0;
+
+        detail_ = "";
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_StopSession_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.StopSession getDefaultInstanceForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.StopSession build() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.StopSession result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.StopSession buildPartial() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.StopSession result = new cmvr.api.armteleop.v1.ArmTeleopV1.StopSession(this);
+        result.reason_ = reason_;
+        result.detail_ = detail_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.armteleop.v1.ArmTeleopV1.StopSession) {
+          return mergeFrom((cmvr.api.armteleop.v1.ArmTeleopV1.StopSession)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.armteleop.v1.ArmTeleopV1.StopSession other) {
+        if (other == cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.getDefaultInstance()) return this;
+        if (other.reason_ != 0) {
+          setReasonValue(other.getReasonValue());
+        }
+        if (!other.getDetail().isEmpty()) {
+          detail_ = other.detail_;
+          onChanged();
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 8: {
+                reason_ = input.readEnum();
+
+                break;
+              } // case 8
+              case 18: {
+                detail_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 18
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private int reason_ = 0;
+      /**
+       * .cmvr.api.armteleop.v1.StopReason reason = 1;
+       * @return The enum numeric value on the wire for reason.
+       */
+      @java.lang.Override public int getReasonValue() {
+        return reason_;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopReason reason = 1;
+       * @param value The enum numeric value on the wire for reason to set.
+       * @return This builder for chaining.
+       */
+      public Builder setReasonValue(int value) {
+        
+        reason_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopReason reason = 1;
+       * @return The reason.
+       */
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.StopReason getReason() {
+        @SuppressWarnings("deprecation")
+        cmvr.api.armteleop.v1.ArmTeleopV1.StopReason result = cmvr.api.armteleop.v1.ArmTeleopV1.StopReason.valueOf(reason_);
+        return result == null ? cmvr.api.armteleop.v1.ArmTeleopV1.StopReason.UNRECOGNIZED : result;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopReason reason = 1;
+       * @param value The reason to set.
+       * @return This builder for chaining.
+       */
+      public Builder setReason(cmvr.api.armteleop.v1.ArmTeleopV1.StopReason value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        
+        reason_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopReason reason = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearReason() {
+        
+        reason_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object detail_ = "";
+      /**
+       * string detail = 2;
+       * @return The detail.
+       */
+      public java.lang.String getDetail() {
+        java.lang.Object ref = detail_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          detail_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string detail = 2;
+       * @return The bytes for detail.
+       */
+      public com.google.protobuf.ByteString
+          getDetailBytes() {
+        java.lang.Object ref = detail_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          detail_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string detail = 2;
+       * @param value The detail to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDetail(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        detail_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string detail = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearDetail() {
+        
+        detail_ = getDefaultInstance().getDetail();
+        onChanged();
+        return this;
+      }
+      /**
+       * string detail = 2;
+       * @param value The bytes for detail to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDetailBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        detail_ = value;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.armteleop.v1.StopSession)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.armteleop.v1.StopSession)
+    private static final cmvr.api.armteleop.v1.ArmTeleopV1.StopSession DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.armteleop.v1.ArmTeleopV1.StopSession();
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.StopSession getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public StopSession parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.StopSession getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface ClientFrameOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.armteleop.v1.ClientFrame)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.armteleop.v1.OpenSession open = 1;
+     * @return Whether the open field is set.
+     */
+    boolean hasOpen();
+    /**
+     * .cmvr.api.armteleop.v1.OpenSession open = 1;
+     * @return The open.
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession getOpen();
+    /**
+     * .cmvr.api.armteleop.v1.OpenSession open = 1;
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.OpenSessionOrBuilder getOpenOrBuilder();
+
+    /**
+     * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+     * @return Whether the setpoint field is set.
+     */
+    boolean hasSetpoint();
+    /**
+     * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+     * @return The setpoint.
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint getSetpoint();
+    /**
+     * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpointOrBuilder getSetpointOrBuilder();
+
+    /**
+     * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+     * @return Whether the heartbeat field is set.
+     */
+    boolean hasHeartbeat();
+    /**
+     * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+     * @return The heartbeat.
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat getHeartbeat();
+    /**
+     * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeatOrBuilder getHeartbeatOrBuilder();
+
+    /**
+     * .cmvr.api.armteleop.v1.StopSession stop = 4;
+     * @return Whether the stop field is set.
+     */
+    boolean hasStop();
+    /**
+     * .cmvr.api.armteleop.v1.StopSession stop = 4;
+     * @return The stop.
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.StopSession getStop();
+    /**
+     * .cmvr.api.armteleop.v1.StopSession stop = 4;
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.StopSessionOrBuilder getStopOrBuilder();
+
+    public cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame.PayloadCase getPayloadCase();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.armteleop.v1.ClientFrame}
+   */
+  public static final class ClientFrame extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.armteleop.v1.ClientFrame)
+      ClientFrameOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use ClientFrame.newBuilder() to construct.
+    private ClientFrame(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private ClientFrame() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new ClientFrame();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ClientFrame_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ClientFrame_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame.class, cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame.Builder.class);
+    }
+
+    private int payloadCase_ = 0;
+    private java.lang.Object payload_;
+    public enum PayloadCase
+        implements com.google.protobuf.Internal.EnumLite,
+            com.google.protobuf.AbstractMessage.InternalOneOfEnum {
+      OPEN(1),
+      SETPOINT(2),
+      HEARTBEAT(3),
+      STOP(4),
+      PAYLOAD_NOT_SET(0);
+      private final int value;
+      private PayloadCase(int value) {
+        this.value = value;
+      }
+      /**
+       * @param value The number of the enum to look for.
+       * @return The enum associated with the given number.
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static PayloadCase valueOf(int value) {
+        return forNumber(value);
+      }
+
+      public static PayloadCase forNumber(int value) {
+        switch (value) {
+          case 1: return OPEN;
+          case 2: return SETPOINT;
+          case 3: return HEARTBEAT;
+          case 4: return STOP;
+          case 0: return PAYLOAD_NOT_SET;
+          default: return null;
+        }
+      }
+      public int getNumber() {
+        return this.value;
+      }
+    };
+
+    public PayloadCase
+    getPayloadCase() {
+      return PayloadCase.forNumber(
+          payloadCase_);
+    }
+
+    public static final int OPEN_FIELD_NUMBER = 1;
+    /**
+     * .cmvr.api.armteleop.v1.OpenSession open = 1;
+     * @return Whether the open field is set.
+     */
+    @java.lang.Override
+    public boolean hasOpen() {
+      return payloadCase_ == 1;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.OpenSession open = 1;
+     * @return The open.
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession getOpen() {
+      if (payloadCase_ == 1) {
+         return (cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession) payload_;
+      }
+      return cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.getDefaultInstance();
+    }
+    /**
+     * .cmvr.api.armteleop.v1.OpenSession open = 1;
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.OpenSessionOrBuilder getOpenOrBuilder() {
+      if (payloadCase_ == 1) {
+         return (cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession) payload_;
+      }
+      return cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.getDefaultInstance();
+    }
+
+    public static final int SETPOINT_FIELD_NUMBER = 2;
+    /**
+     * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+     * @return Whether the setpoint field is set.
+     */
+    @java.lang.Override
+    public boolean hasSetpoint() {
+      return payloadCase_ == 2;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+     * @return The setpoint.
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint getSetpoint() {
+      if (payloadCase_ == 2) {
+         return (cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint) payload_;
+      }
+      return cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.getDefaultInstance();
+    }
+    /**
+     * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpointOrBuilder getSetpointOrBuilder() {
+      if (payloadCase_ == 2) {
+         return (cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint) payload_;
+      }
+      return cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.getDefaultInstance();
+    }
+
+    public static final int HEARTBEAT_FIELD_NUMBER = 3;
+    /**
+     * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+     * @return Whether the heartbeat field is set.
+     */
+    @java.lang.Override
+    public boolean hasHeartbeat() {
+      return payloadCase_ == 3;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+     * @return The heartbeat.
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat getHeartbeat() {
+      if (payloadCase_ == 3) {
+         return (cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat) payload_;
+      }
+      return cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.getDefaultInstance();
+    }
+    /**
+     * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeatOrBuilder getHeartbeatOrBuilder() {
+      if (payloadCase_ == 3) {
+         return (cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat) payload_;
+      }
+      return cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.getDefaultInstance();
+    }
+
+    public static final int STOP_FIELD_NUMBER = 4;
+    /**
+     * .cmvr.api.armteleop.v1.StopSession stop = 4;
+     * @return Whether the stop field is set.
+     */
+    @java.lang.Override
+    public boolean hasStop() {
+      return payloadCase_ == 4;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.StopSession stop = 4;
+     * @return The stop.
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.StopSession getStop() {
+      if (payloadCase_ == 4) {
+         return (cmvr.api.armteleop.v1.ArmTeleopV1.StopSession) payload_;
+      }
+      return cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.getDefaultInstance();
+    }
+    /**
+     * .cmvr.api.armteleop.v1.StopSession stop = 4;
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.StopSessionOrBuilder getStopOrBuilder() {
+      if (payloadCase_ == 4) {
+         return (cmvr.api.armteleop.v1.ArmTeleopV1.StopSession) payload_;
+      }
+      return cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.getDefaultInstance();
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (payloadCase_ == 1) {
+        output.writeMessage(1, (cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession) payload_);
+      }
+      if (payloadCase_ == 2) {
+        output.writeMessage(2, (cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint) payload_);
+      }
+      if (payloadCase_ == 3) {
+        output.writeMessage(3, (cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat) payload_);
+      }
+      if (payloadCase_ == 4) {
+        output.writeMessage(4, (cmvr.api.armteleop.v1.ArmTeleopV1.StopSession) payload_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (payloadCase_ == 1) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(1, (cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession) payload_);
+      }
+      if (payloadCase_ == 2) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(2, (cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint) payload_);
+      }
+      if (payloadCase_ == 3) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(3, (cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat) payload_);
+      }
+      if (payloadCase_ == 4) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(4, (cmvr.api.armteleop.v1.ArmTeleopV1.StopSession) payload_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame)) {
+        return super.equals(obj);
+      }
+      cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame other = (cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame) obj;
+
+      if (!getPayloadCase().equals(other.getPayloadCase())) return false;
+      switch (payloadCase_) {
+        case 1:
+          if (!getOpen()
+              .equals(other.getOpen())) return false;
+          break;
+        case 2:
+          if (!getSetpoint()
+              .equals(other.getSetpoint())) return false;
+          break;
+        case 3:
+          if (!getHeartbeat()
+              .equals(other.getHeartbeat())) return false;
+          break;
+        case 4:
+          if (!getStop()
+              .equals(other.getStop())) return false;
+          break;
+        case 0:
+        default:
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      switch (payloadCase_) {
+        case 1:
+          hash = (37 * hash) + OPEN_FIELD_NUMBER;
+          hash = (53 * hash) + getOpen().hashCode();
+          break;
+        case 2:
+          hash = (37 * hash) + SETPOINT_FIELD_NUMBER;
+          hash = (53 * hash) + getSetpoint().hashCode();
+          break;
+        case 3:
+          hash = (37 * hash) + HEARTBEAT_FIELD_NUMBER;
+          hash = (53 * hash) + getHeartbeat().hashCode();
+          break;
+        case 4:
+          hash = (37 * hash) + STOP_FIELD_NUMBER;
+          hash = (53 * hash) + getStop().hashCode();
+          break;
+        case 0:
+        default:
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.armteleop.v1.ClientFrame}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.armteleop.v1.ClientFrame)
+        cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrameOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ClientFrame_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ClientFrame_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame.class, cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame.Builder.class);
+      }
+
+      // Construct using cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (openBuilder_ != null) {
+          openBuilder_.clear();
+        }
+        if (setpointBuilder_ != null) {
+          setpointBuilder_.clear();
+        }
+        if (heartbeatBuilder_ != null) {
+          heartbeatBuilder_.clear();
+        }
+        if (stopBuilder_ != null) {
+          stopBuilder_.clear();
+        }
+        payloadCase_ = 0;
+        payload_ = null;
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ClientFrame_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame getDefaultInstanceForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame build() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame buildPartial() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame result = new cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame(this);
+        if (payloadCase_ == 1) {
+          if (openBuilder_ == null) {
+            result.payload_ = payload_;
+          } else {
+            result.payload_ = openBuilder_.build();
+          }
+        }
+        if (payloadCase_ == 2) {
+          if (setpointBuilder_ == null) {
+            result.payload_ = payload_;
+          } else {
+            result.payload_ = setpointBuilder_.build();
+          }
+        }
+        if (payloadCase_ == 3) {
+          if (heartbeatBuilder_ == null) {
+            result.payload_ = payload_;
+          } else {
+            result.payload_ = heartbeatBuilder_.build();
+          }
+        }
+        if (payloadCase_ == 4) {
+          if (stopBuilder_ == null) {
+            result.payload_ = payload_;
+          } else {
+            result.payload_ = stopBuilder_.build();
+          }
+        }
+        result.payloadCase_ = payloadCase_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame) {
+          return mergeFrom((cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame other) {
+        if (other == cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame.getDefaultInstance()) return this;
+        switch (other.getPayloadCase()) {
+          case OPEN: {
+            mergeOpen(other.getOpen());
+            break;
+          }
+          case SETPOINT: {
+            mergeSetpoint(other.getSetpoint());
+            break;
+          }
+          case HEARTBEAT: {
+            mergeHeartbeat(other.getHeartbeat());
+            break;
+          }
+          case STOP: {
+            mergeStop(other.getStop());
+            break;
+          }
+          case PAYLOAD_NOT_SET: {
+            break;
+          }
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
+                    getOpenFieldBuilder().getBuilder(),
+                    extensionRegistry);
+                payloadCase_ = 1;
+                break;
+              } // case 10
+              case 18: {
+                input.readMessage(
+                    getSetpointFieldBuilder().getBuilder(),
+                    extensionRegistry);
+                payloadCase_ = 2;
+                break;
+              } // case 18
+              case 26: {
+                input.readMessage(
+                    getHeartbeatFieldBuilder().getBuilder(),
+                    extensionRegistry);
+                payloadCase_ = 3;
+                break;
+              } // case 26
+              case 34: {
+                input.readMessage(
+                    getStopFieldBuilder().getBuilder(),
+                    extensionRegistry);
+                payloadCase_ = 4;
+                break;
+              } // case 34
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int payloadCase_ = 0;
+      private java.lang.Object payload_;
+      public PayloadCase
+          getPayloadCase() {
+        return PayloadCase.forNumber(
+            payloadCase_);
+      }
+
+      public Builder clearPayload() {
+        payloadCase_ = 0;
+        payload_ = null;
+        onChanged();
+        return this;
+      }
+
+
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession, cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.OpenSessionOrBuilder> openBuilder_;
+      /**
+       * .cmvr.api.armteleop.v1.OpenSession open = 1;
+       * @return Whether the open field is set.
+       */
+      @java.lang.Override
+      public boolean hasOpen() {
+        return payloadCase_ == 1;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.OpenSession open = 1;
+       * @return The open.
+       */
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession getOpen() {
+        if (openBuilder_ == null) {
+          if (payloadCase_ == 1) {
+            return (cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession) payload_;
+          }
+          return cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.getDefaultInstance();
+        } else {
+          if (payloadCase_ == 1) {
+            return openBuilder_.getMessage();
+          }
+          return cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.OpenSession open = 1;
+       */
+      public Builder setOpen(cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession value) {
+        if (openBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          payload_ = value;
+          onChanged();
+        } else {
+          openBuilder_.setMessage(value);
+        }
+        payloadCase_ = 1;
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.OpenSession open = 1;
+       */
+      public Builder setOpen(
+          cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.Builder builderForValue) {
+        if (openBuilder_ == null) {
+          payload_ = builderForValue.build();
+          onChanged();
+        } else {
+          openBuilder_.setMessage(builderForValue.build());
+        }
+        payloadCase_ = 1;
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.OpenSession open = 1;
+       */
+      public Builder mergeOpen(cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession value) {
+        if (openBuilder_ == null) {
+          if (payloadCase_ == 1 &&
+              payload_ != cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.getDefaultInstance()) {
+            payload_ = cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.newBuilder((cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession) payload_)
+                .mergeFrom(value).buildPartial();
+          } else {
+            payload_ = value;
+          }
+          onChanged();
+        } else {
+          if (payloadCase_ == 1) {
+            openBuilder_.mergeFrom(value);
+          } else {
+            openBuilder_.setMessage(value);
+          }
+        }
+        payloadCase_ = 1;
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.OpenSession open = 1;
+       */
+      public Builder clearOpen() {
+        if (openBuilder_ == null) {
+          if (payloadCase_ == 1) {
+            payloadCase_ = 0;
+            payload_ = null;
+            onChanged();
+          }
+        } else {
+          if (payloadCase_ == 1) {
+            payloadCase_ = 0;
+            payload_ = null;
+          }
+          openBuilder_.clear();
+        }
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.OpenSession open = 1;
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.Builder getOpenBuilder() {
+        return getOpenFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.armteleop.v1.OpenSession open = 1;
+       */
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.OpenSessionOrBuilder getOpenOrBuilder() {
+        if ((payloadCase_ == 1) && (openBuilder_ != null)) {
+          return openBuilder_.getMessageOrBuilder();
+        } else {
+          if (payloadCase_ == 1) {
+            return (cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession) payload_;
+          }
+          return cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.OpenSession open = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession, cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.OpenSessionOrBuilder> 
+          getOpenFieldBuilder() {
+        if (openBuilder_ == null) {
+          if (!(payloadCase_ == 1)) {
+            payload_ = cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.getDefaultInstance();
+          }
+          openBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession, cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.OpenSessionOrBuilder>(
+                  (cmvr.api.armteleop.v1.ArmTeleopV1.OpenSession) payload_,
+                  getParentForChildren(),
+                  isClean());
+          payload_ = null;
+        }
+        payloadCase_ = 1;
+        onChanged();;
+        return openBuilder_;
+      }
+
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint, cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpointOrBuilder> setpointBuilder_;
+      /**
+       * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+       * @return Whether the setpoint field is set.
+       */
+      @java.lang.Override
+      public boolean hasSetpoint() {
+        return payloadCase_ == 2;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+       * @return The setpoint.
+       */
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint getSetpoint() {
+        if (setpointBuilder_ == null) {
+          if (payloadCase_ == 2) {
+            return (cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint) payload_;
+          }
+          return cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.getDefaultInstance();
+        } else {
+          if (payloadCase_ == 2) {
+            return setpointBuilder_.getMessage();
+          }
+          return cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+       */
+      public Builder setSetpoint(cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint value) {
+        if (setpointBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          payload_ = value;
+          onChanged();
+        } else {
+          setpointBuilder_.setMessage(value);
+        }
+        payloadCase_ = 2;
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+       */
+      public Builder setSetpoint(
+          cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.Builder builderForValue) {
+        if (setpointBuilder_ == null) {
+          payload_ = builderForValue.build();
+          onChanged();
+        } else {
+          setpointBuilder_.setMessage(builderForValue.build());
+        }
+        payloadCase_ = 2;
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+       */
+      public Builder mergeSetpoint(cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint value) {
+        if (setpointBuilder_ == null) {
+          if (payloadCase_ == 2 &&
+              payload_ != cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.getDefaultInstance()) {
+            payload_ = cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.newBuilder((cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint) payload_)
+                .mergeFrom(value).buildPartial();
+          } else {
+            payload_ = value;
+          }
+          onChanged();
+        } else {
+          if (payloadCase_ == 2) {
+            setpointBuilder_.mergeFrom(value);
+          } else {
+            setpointBuilder_.setMessage(value);
+          }
+        }
+        payloadCase_ = 2;
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+       */
+      public Builder clearSetpoint() {
+        if (setpointBuilder_ == null) {
+          if (payloadCase_ == 2) {
+            payloadCase_ = 0;
+            payload_ = null;
+            onChanged();
+          }
+        } else {
+          if (payloadCase_ == 2) {
+            payloadCase_ = 0;
+            payload_ = null;
+          }
+          setpointBuilder_.clear();
+        }
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.Builder getSetpointBuilder() {
+        return getSetpointFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+       */
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpointOrBuilder getSetpointOrBuilder() {
+        if ((payloadCase_ == 2) && (setpointBuilder_ != null)) {
+          return setpointBuilder_.getMessageOrBuilder();
+        } else {
+          if (payloadCase_ == 2) {
+            return (cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint) payload_;
+          }
+          return cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointSetpoint setpoint = 2;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint, cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpointOrBuilder> 
+          getSetpointFieldBuilder() {
+        if (setpointBuilder_ == null) {
+          if (!(payloadCase_ == 2)) {
+            payload_ = cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.getDefaultInstance();
+          }
+          setpointBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint, cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpointOrBuilder>(
+                  (cmvr.api.armteleop.v1.ArmTeleopV1.JointSetpoint) payload_,
+                  getParentForChildren(),
+                  isClean());
+          payload_ = null;
+        }
+        payloadCase_ = 2;
+        onChanged();;
+        return setpointBuilder_;
+      }
+
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat, cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeatOrBuilder> heartbeatBuilder_;
+      /**
+       * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+       * @return Whether the heartbeat field is set.
+       */
+      @java.lang.Override
+      public boolean hasHeartbeat() {
+        return payloadCase_ == 3;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+       * @return The heartbeat.
+       */
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat getHeartbeat() {
+        if (heartbeatBuilder_ == null) {
+          if (payloadCase_ == 3) {
+            return (cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat) payload_;
+          }
+          return cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.getDefaultInstance();
+        } else {
+          if (payloadCase_ == 3) {
+            return heartbeatBuilder_.getMessage();
+          }
+          return cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+       */
+      public Builder setHeartbeat(cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat value) {
+        if (heartbeatBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          payload_ = value;
+          onChanged();
+        } else {
+          heartbeatBuilder_.setMessage(value);
+        }
+        payloadCase_ = 3;
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+       */
+      public Builder setHeartbeat(
+          cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.Builder builderForValue) {
+        if (heartbeatBuilder_ == null) {
+          payload_ = builderForValue.build();
+          onChanged();
+        } else {
+          heartbeatBuilder_.setMessage(builderForValue.build());
+        }
+        payloadCase_ = 3;
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+       */
+      public Builder mergeHeartbeat(cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat value) {
+        if (heartbeatBuilder_ == null) {
+          if (payloadCase_ == 3 &&
+              payload_ != cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.getDefaultInstance()) {
+            payload_ = cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.newBuilder((cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat) payload_)
+                .mergeFrom(value).buildPartial();
+          } else {
+            payload_ = value;
+          }
+          onChanged();
+        } else {
+          if (payloadCase_ == 3) {
+            heartbeatBuilder_.mergeFrom(value);
+          } else {
+            heartbeatBuilder_.setMessage(value);
+          }
+        }
+        payloadCase_ = 3;
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+       */
+      public Builder clearHeartbeat() {
+        if (heartbeatBuilder_ == null) {
+          if (payloadCase_ == 3) {
+            payloadCase_ = 0;
+            payload_ = null;
+            onChanged();
+          }
+        } else {
+          if (payloadCase_ == 3) {
+            payloadCase_ = 0;
+            payload_ = null;
+          }
+          heartbeatBuilder_.clear();
+        }
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.Builder getHeartbeatBuilder() {
+        return getHeartbeatFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+       */
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeatOrBuilder getHeartbeatOrBuilder() {
+        if ((payloadCase_ == 3) && (heartbeatBuilder_ != null)) {
+          return heartbeatBuilder_.getMessageOrBuilder();
+        } else {
+          if (payloadCase_ == 3) {
+            return (cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat) payload_;
+          }
+          return cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.ClientHeartbeat heartbeat = 3;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat, cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeatOrBuilder> 
+          getHeartbeatFieldBuilder() {
+        if (heartbeatBuilder_ == null) {
+          if (!(payloadCase_ == 3)) {
+            payload_ = cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.getDefaultInstance();
+          }
+          heartbeatBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat, cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeatOrBuilder>(
+                  (cmvr.api.armteleop.v1.ArmTeleopV1.ClientHeartbeat) payload_,
+                  getParentForChildren(),
+                  isClean());
+          payload_ = null;
+        }
+        payloadCase_ = 3;
+        onChanged();;
+        return heartbeatBuilder_;
+      }
+
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.StopSession, cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.StopSessionOrBuilder> stopBuilder_;
+      /**
+       * .cmvr.api.armteleop.v1.StopSession stop = 4;
+       * @return Whether the stop field is set.
+       */
+      @java.lang.Override
+      public boolean hasStop() {
+        return payloadCase_ == 4;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopSession stop = 4;
+       * @return The stop.
+       */
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.StopSession getStop() {
+        if (stopBuilder_ == null) {
+          if (payloadCase_ == 4) {
+            return (cmvr.api.armteleop.v1.ArmTeleopV1.StopSession) payload_;
+          }
+          return cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.getDefaultInstance();
+        } else {
+          if (payloadCase_ == 4) {
+            return stopBuilder_.getMessage();
+          }
+          return cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopSession stop = 4;
+       */
+      public Builder setStop(cmvr.api.armteleop.v1.ArmTeleopV1.StopSession value) {
+        if (stopBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          payload_ = value;
+          onChanged();
+        } else {
+          stopBuilder_.setMessage(value);
+        }
+        payloadCase_ = 4;
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopSession stop = 4;
+       */
+      public Builder setStop(
+          cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.Builder builderForValue) {
+        if (stopBuilder_ == null) {
+          payload_ = builderForValue.build();
+          onChanged();
+        } else {
+          stopBuilder_.setMessage(builderForValue.build());
+        }
+        payloadCase_ = 4;
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopSession stop = 4;
+       */
+      public Builder mergeStop(cmvr.api.armteleop.v1.ArmTeleopV1.StopSession value) {
+        if (stopBuilder_ == null) {
+          if (payloadCase_ == 4 &&
+              payload_ != cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.getDefaultInstance()) {
+            payload_ = cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.newBuilder((cmvr.api.armteleop.v1.ArmTeleopV1.StopSession) payload_)
+                .mergeFrom(value).buildPartial();
+          } else {
+            payload_ = value;
+          }
+          onChanged();
+        } else {
+          if (payloadCase_ == 4) {
+            stopBuilder_.mergeFrom(value);
+          } else {
+            stopBuilder_.setMessage(value);
+          }
+        }
+        payloadCase_ = 4;
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopSession stop = 4;
+       */
+      public Builder clearStop() {
+        if (stopBuilder_ == null) {
+          if (payloadCase_ == 4) {
+            payloadCase_ = 0;
+            payload_ = null;
+            onChanged();
+          }
+        } else {
+          if (payloadCase_ == 4) {
+            payloadCase_ = 0;
+            payload_ = null;
+          }
+          stopBuilder_.clear();
+        }
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopSession stop = 4;
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.Builder getStopBuilder() {
+        return getStopFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopSession stop = 4;
+       */
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.StopSessionOrBuilder getStopOrBuilder() {
+        if ((payloadCase_ == 4) && (stopBuilder_ != null)) {
+          return stopBuilder_.getMessageOrBuilder();
+        } else {
+          if (payloadCase_ == 4) {
+            return (cmvr.api.armteleop.v1.ArmTeleopV1.StopSession) payload_;
+          }
+          return cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.getDefaultInstance();
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopSession stop = 4;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.StopSession, cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.StopSessionOrBuilder> 
+          getStopFieldBuilder() {
+        if (stopBuilder_ == null) {
+          if (!(payloadCase_ == 4)) {
+            payload_ = cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.getDefaultInstance();
+          }
+          stopBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.armteleop.v1.ArmTeleopV1.StopSession, cmvr.api.armteleop.v1.ArmTeleopV1.StopSession.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.StopSessionOrBuilder>(
+                  (cmvr.api.armteleop.v1.ArmTeleopV1.StopSession) payload_,
+                  getParentForChildren(),
+                  isClean());
+          payload_ = null;
+        }
+        payloadCase_ = 4;
+        onChanged();;
+        return stopBuilder_;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.armteleop.v1.ClientFrame)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.armteleop.v1.ClientFrame)
+    private static final cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame();
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public ClientFrame parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.ClientFrame getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface JointStateOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.armteleop.v1.JointState)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * uint64 sample_sequence = 1;
+     * @return The sampleSequence.
+     */
+    long getSampleSequence();
+
+    /**
+     * repeated double position_rad = 2;
+     * @return A list containing the positionRad.
+     */
+    java.util.List getPositionRadList();
+    /**
+     * repeated double position_rad = 2;
+     * @return The count of positionRad.
+     */
+    int getPositionRadCount();
+    /**
+     * repeated double position_rad = 2;
+     * @param index The index of the element to return.
+     * @return The positionRad at the given index.
+     */
+    double getPositionRad(int index);
+
+    /**
+     * repeated double velocity_rad_s = 3;
+     * @return A list containing the velocityRadS.
+     */
+    java.util.List getVelocityRadSList();
+    /**
+     * repeated double velocity_rad_s = 3;
+     * @return The count of velocityRadS.
+     */
+    int getVelocityRadSCount();
+    /**
+     * repeated double velocity_rad_s = 3;
+     * @param index The index of the element to return.
+     * @return The velocityRadS at the given index.
+     */
+    double getVelocityRadS(int index);
+
+    /**
+     * repeated double effort_nm = 4;
+     * @return A list containing the effortNm.
+     */
+    java.util.List getEffortNmList();
+    /**
+     * repeated double effort_nm = 4;
+     * @return The count of effortNm.
+     */
+    int getEffortNmCount();
+    /**
+     * repeated double effort_nm = 4;
+     * @param index The index of the element to return.
+     * @return The effortNm at the given index.
+     */
+    double getEffortNm(int index);
+
+    /**
+     * bool position_valid = 5;
+     * @return The positionValid.
+     */
+    boolean getPositionValid();
+
+    /**
+     * bool velocity_valid = 6;
+     * @return The velocityValid.
+     */
+    boolean getVelocityValid();
+
+    /**
+     * bool effort_valid = 7;
+     * @return The effortValid.
+     */
+    boolean getEffortValid();
+
+    /**
+     * .cmvr.api.armteleop.v1.EffortSource effort_source = 8;
+     * @return The enum numeric value on the wire for effortSource.
+     */
+    int getEffortSourceValue();
+    /**
+     * .cmvr.api.armteleop.v1.EffortSource effort_source = 8;
+     * @return The effortSource.
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.EffortSource getEffortSource();
+
+    /**
+     * uint64 sample_age_us = 9;
+     * @return The sampleAgeUs.
+     */
+    long getSampleAgeUs();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.armteleop.v1.JointState}
+   */
+  public static final class JointState extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.armteleop.v1.JointState)
+      JointStateOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use JointState.newBuilder() to construct.
+    private JointState(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private JointState() {
+      positionRad_ = emptyDoubleList();
+      velocityRadS_ = emptyDoubleList();
+      effortNm_ = emptyDoubleList();
+      effortSource_ = 0;
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new JointState();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_JointState_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_JointState_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.armteleop.v1.ArmTeleopV1.JointState.class, cmvr.api.armteleop.v1.ArmTeleopV1.JointState.Builder.class);
+    }
+
+    public static final int SAMPLE_SEQUENCE_FIELD_NUMBER = 1;
+    private long sampleSequence_;
+    /**
+     * uint64 sample_sequence = 1;
+     * @return The sampleSequence.
+     */
+    @java.lang.Override
+    public long getSampleSequence() {
+      return sampleSequence_;
+    }
+
+    public static final int POSITION_RAD_FIELD_NUMBER = 2;
+    private com.google.protobuf.Internal.DoubleList positionRad_;
+    /**
+     * repeated double position_rad = 2;
+     * @return A list containing the positionRad.
+     */
+    @java.lang.Override
+    public java.util.List
+        getPositionRadList() {
+      return positionRad_;
+    }
+    /**
+     * repeated double position_rad = 2;
+     * @return The count of positionRad.
+     */
+    public int getPositionRadCount() {
+      return positionRad_.size();
+    }
+    /**
+     * repeated double position_rad = 2;
+     * @param index The index of the element to return.
+     * @return The positionRad at the given index.
+     */
+    public double getPositionRad(int index) {
+      return positionRad_.getDouble(index);
+    }
+    private int positionRadMemoizedSerializedSize = -1;
+
+    public static final int VELOCITY_RAD_S_FIELD_NUMBER = 3;
+    private com.google.protobuf.Internal.DoubleList velocityRadS_;
+    /**
+     * repeated double velocity_rad_s = 3;
+     * @return A list containing the velocityRadS.
+     */
+    @java.lang.Override
+    public java.util.List
+        getVelocityRadSList() {
+      return velocityRadS_;
+    }
+    /**
+     * repeated double velocity_rad_s = 3;
+     * @return The count of velocityRadS.
+     */
+    public int getVelocityRadSCount() {
+      return velocityRadS_.size();
+    }
+    /**
+     * repeated double velocity_rad_s = 3;
+     * @param index The index of the element to return.
+     * @return The velocityRadS at the given index.
+     */
+    public double getVelocityRadS(int index) {
+      return velocityRadS_.getDouble(index);
+    }
+    private int velocityRadSMemoizedSerializedSize = -1;
+
+    public static final int EFFORT_NM_FIELD_NUMBER = 4;
+    private com.google.protobuf.Internal.DoubleList effortNm_;
+    /**
+     * repeated double effort_nm = 4;
+     * @return A list containing the effortNm.
+     */
+    @java.lang.Override
+    public java.util.List
+        getEffortNmList() {
+      return effortNm_;
+    }
+    /**
+     * repeated double effort_nm = 4;
+     * @return The count of effortNm.
+     */
+    public int getEffortNmCount() {
+      return effortNm_.size();
+    }
+    /**
+     * repeated double effort_nm = 4;
+     * @param index The index of the element to return.
+     * @return The effortNm at the given index.
+     */
+    public double getEffortNm(int index) {
+      return effortNm_.getDouble(index);
+    }
+    private int effortNmMemoizedSerializedSize = -1;
+
+    public static final int POSITION_VALID_FIELD_NUMBER = 5;
+    private boolean positionValid_;
+    /**
+     * bool position_valid = 5;
+     * @return The positionValid.
+     */
+    @java.lang.Override
+    public boolean getPositionValid() {
+      return positionValid_;
+    }
+
+    public static final int VELOCITY_VALID_FIELD_NUMBER = 6;
+    private boolean velocityValid_;
+    /**
+     * bool velocity_valid = 6;
+     * @return The velocityValid.
+     */
+    @java.lang.Override
+    public boolean getVelocityValid() {
+      return velocityValid_;
+    }
+
+    public static final int EFFORT_VALID_FIELD_NUMBER = 7;
+    private boolean effortValid_;
+    /**
+     * bool effort_valid = 7;
+     * @return The effortValid.
+     */
+    @java.lang.Override
+    public boolean getEffortValid() {
+      return effortValid_;
+    }
+
+    public static final int EFFORT_SOURCE_FIELD_NUMBER = 8;
+    private int effortSource_;
+    /**
+     * .cmvr.api.armteleop.v1.EffortSource effort_source = 8;
+     * @return The enum numeric value on the wire for effortSource.
+     */
+    @java.lang.Override public int getEffortSourceValue() {
+      return effortSource_;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.EffortSource effort_source = 8;
+     * @return The effortSource.
+     */
+    @java.lang.Override public cmvr.api.armteleop.v1.ArmTeleopV1.EffortSource getEffortSource() {
+      @SuppressWarnings("deprecation")
+      cmvr.api.armteleop.v1.ArmTeleopV1.EffortSource result = cmvr.api.armteleop.v1.ArmTeleopV1.EffortSource.valueOf(effortSource_);
+      return result == null ? cmvr.api.armteleop.v1.ArmTeleopV1.EffortSource.UNRECOGNIZED : result;
+    }
+
+    public static final int SAMPLE_AGE_US_FIELD_NUMBER = 9;
+    private long sampleAgeUs_;
+    /**
+     * uint64 sample_age_us = 9;
+     * @return The sampleAgeUs.
+     */
+    @java.lang.Override
+    public long getSampleAgeUs() {
+      return sampleAgeUs_;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      getSerializedSize();
+      if (sampleSequence_ != 0L) {
+        output.writeUInt64(1, sampleSequence_);
+      }
+      if (getPositionRadList().size() > 0) {
+        output.writeUInt32NoTag(18);
+        output.writeUInt32NoTag(positionRadMemoizedSerializedSize);
+      }
+      for (int i = 0; i < positionRad_.size(); i++) {
+        output.writeDoubleNoTag(positionRad_.getDouble(i));
+      }
+      if (getVelocityRadSList().size() > 0) {
+        output.writeUInt32NoTag(26);
+        output.writeUInt32NoTag(velocityRadSMemoizedSerializedSize);
+      }
+      for (int i = 0; i < velocityRadS_.size(); i++) {
+        output.writeDoubleNoTag(velocityRadS_.getDouble(i));
+      }
+      if (getEffortNmList().size() > 0) {
+        output.writeUInt32NoTag(34);
+        output.writeUInt32NoTag(effortNmMemoizedSerializedSize);
+      }
+      for (int i = 0; i < effortNm_.size(); i++) {
+        output.writeDoubleNoTag(effortNm_.getDouble(i));
+      }
+      if (positionValid_ != false) {
+        output.writeBool(5, positionValid_);
+      }
+      if (velocityValid_ != false) {
+        output.writeBool(6, velocityValid_);
+      }
+      if (effortValid_ != false) {
+        output.writeBool(7, effortValid_);
+      }
+      if (effortSource_ != cmvr.api.armteleop.v1.ArmTeleopV1.EffortSource.EFFORT_SOURCE_UNSPECIFIED.getNumber()) {
+        output.writeEnum(8, effortSource_);
+      }
+      if (sampleAgeUs_ != 0L) {
+        output.writeUInt64(9, sampleAgeUs_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (sampleSequence_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt64Size(1, sampleSequence_);
+      }
+      {
+        int dataSize = 0;
+        dataSize = 8 * getPositionRadList().size();
+        size += dataSize;
+        if (!getPositionRadList().isEmpty()) {
+          size += 1;
+          size += com.google.protobuf.CodedOutputStream
+              .computeInt32SizeNoTag(dataSize);
+        }
+        positionRadMemoizedSerializedSize = dataSize;
+      }
+      {
+        int dataSize = 0;
+        dataSize = 8 * getVelocityRadSList().size();
+        size += dataSize;
+        if (!getVelocityRadSList().isEmpty()) {
+          size += 1;
+          size += com.google.protobuf.CodedOutputStream
+              .computeInt32SizeNoTag(dataSize);
+        }
+        velocityRadSMemoizedSerializedSize = dataSize;
+      }
+      {
+        int dataSize = 0;
+        dataSize = 8 * getEffortNmList().size();
+        size += dataSize;
+        if (!getEffortNmList().isEmpty()) {
+          size += 1;
+          size += com.google.protobuf.CodedOutputStream
+              .computeInt32SizeNoTag(dataSize);
+        }
+        effortNmMemoizedSerializedSize = dataSize;
+      }
+      if (positionValid_ != false) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(5, positionValid_);
+      }
+      if (velocityValid_ != false) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(6, velocityValid_);
+      }
+      if (effortValid_ != false) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(7, effortValid_);
+      }
+      if (effortSource_ != cmvr.api.armteleop.v1.ArmTeleopV1.EffortSource.EFFORT_SOURCE_UNSPECIFIED.getNumber()) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeEnumSize(8, effortSource_);
+      }
+      if (sampleAgeUs_ != 0L) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt64Size(9, sampleAgeUs_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.armteleop.v1.ArmTeleopV1.JointState)) {
+        return super.equals(obj);
+      }
+      cmvr.api.armteleop.v1.ArmTeleopV1.JointState other = (cmvr.api.armteleop.v1.ArmTeleopV1.JointState) obj;
+
+      if (getSampleSequence()
+          != other.getSampleSequence()) return false;
+      if (!getPositionRadList()
+          .equals(other.getPositionRadList())) return false;
+      if (!getVelocityRadSList()
+          .equals(other.getVelocityRadSList())) return false;
+      if (!getEffortNmList()
+          .equals(other.getEffortNmList())) return false;
+      if (getPositionValid()
+          != other.getPositionValid()) return false;
+      if (getVelocityValid()
+          != other.getVelocityValid()) return false;
+      if (getEffortValid()
+          != other.getEffortValid()) return false;
+      if (effortSource_ != other.effortSource_) return false;
+      if (getSampleAgeUs()
+          != other.getSampleAgeUs()) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (37 * hash) + SAMPLE_SEQUENCE_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          getSampleSequence());
+      if (getPositionRadCount() > 0) {
+        hash = (37 * hash) + POSITION_RAD_FIELD_NUMBER;
+        hash = (53 * hash) + getPositionRadList().hashCode();
+      }
+      if (getVelocityRadSCount() > 0) {
+        hash = (37 * hash) + VELOCITY_RAD_S_FIELD_NUMBER;
+        hash = (53 * hash) + getVelocityRadSList().hashCode();
+      }
+      if (getEffortNmCount() > 0) {
+        hash = (37 * hash) + EFFORT_NM_FIELD_NUMBER;
+        hash = (53 * hash) + getEffortNmList().hashCode();
+      }
+      hash = (37 * hash) + POSITION_VALID_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+          getPositionValid());
+      hash = (37 * hash) + VELOCITY_VALID_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+          getVelocityValid());
+      hash = (37 * hash) + EFFORT_VALID_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+          getEffortValid());
+      hash = (37 * hash) + EFFORT_SOURCE_FIELD_NUMBER;
+      hash = (53 * hash) + effortSource_;
+      hash = (37 * hash) + SAMPLE_AGE_US_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashLong(
+          getSampleAgeUs());
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.armteleop.v1.ArmTeleopV1.JointState prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.armteleop.v1.JointState}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.armteleop.v1.JointState)
+        cmvr.api.armteleop.v1.ArmTeleopV1.JointStateOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_JointState_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_JointState_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.armteleop.v1.ArmTeleopV1.JointState.class, cmvr.api.armteleop.v1.ArmTeleopV1.JointState.Builder.class);
+      }
+
+      // Construct using cmvr.api.armteleop.v1.ArmTeleopV1.JointState.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        sampleSequence_ = 0L;
+
+        positionRad_ = emptyDoubleList();
+        bitField0_ = (bitField0_ & ~0x00000001);
+        velocityRadS_ = emptyDoubleList();
+        bitField0_ = (bitField0_ & ~0x00000002);
+        effortNm_ = emptyDoubleList();
+        bitField0_ = (bitField0_ & ~0x00000004);
+        positionValid_ = false;
+
+        velocityValid_ = false;
+
+        effortValid_ = false;
+
+        effortSource_ = 0;
+
+        sampleAgeUs_ = 0L;
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_JointState_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.JointState getDefaultInstanceForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.JointState.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.JointState build() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.JointState result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.JointState buildPartial() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.JointState result = new cmvr.api.armteleop.v1.ArmTeleopV1.JointState(this);
+        int from_bitField0_ = bitField0_;
+        result.sampleSequence_ = sampleSequence_;
+        if (((bitField0_ & 0x00000001) != 0)) {
+          positionRad_.makeImmutable();
+          bitField0_ = (bitField0_ & ~0x00000001);
+        }
+        result.positionRad_ = positionRad_;
+        if (((bitField0_ & 0x00000002) != 0)) {
+          velocityRadS_.makeImmutable();
+          bitField0_ = (bitField0_ & ~0x00000002);
+        }
+        result.velocityRadS_ = velocityRadS_;
+        if (((bitField0_ & 0x00000004) != 0)) {
+          effortNm_.makeImmutable();
+          bitField0_ = (bitField0_ & ~0x00000004);
+        }
+        result.effortNm_ = effortNm_;
+        result.positionValid_ = positionValid_;
+        result.velocityValid_ = velocityValid_;
+        result.effortValid_ = effortValid_;
+        result.effortSource_ = effortSource_;
+        result.sampleAgeUs_ = sampleAgeUs_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.armteleop.v1.ArmTeleopV1.JointState) {
+          return mergeFrom((cmvr.api.armteleop.v1.ArmTeleopV1.JointState)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.armteleop.v1.ArmTeleopV1.JointState other) {
+        if (other == cmvr.api.armteleop.v1.ArmTeleopV1.JointState.getDefaultInstance()) return this;
+        if (other.getSampleSequence() != 0L) {
+          setSampleSequence(other.getSampleSequence());
+        }
+        if (!other.positionRad_.isEmpty()) {
+          if (positionRad_.isEmpty()) {
+            positionRad_ = other.positionRad_;
+            bitField0_ = (bitField0_ & ~0x00000001);
+          } else {
+            ensurePositionRadIsMutable();
+            positionRad_.addAll(other.positionRad_);
+          }
+          onChanged();
+        }
+        if (!other.velocityRadS_.isEmpty()) {
+          if (velocityRadS_.isEmpty()) {
+            velocityRadS_ = other.velocityRadS_;
+            bitField0_ = (bitField0_ & ~0x00000002);
+          } else {
+            ensureVelocityRadSIsMutable();
+            velocityRadS_.addAll(other.velocityRadS_);
+          }
+          onChanged();
+        }
+        if (!other.effortNm_.isEmpty()) {
+          if (effortNm_.isEmpty()) {
+            effortNm_ = other.effortNm_;
+            bitField0_ = (bitField0_ & ~0x00000004);
+          } else {
+            ensureEffortNmIsMutable();
+            effortNm_.addAll(other.effortNm_);
+          }
+          onChanged();
+        }
+        if (other.getPositionValid() != false) {
+          setPositionValid(other.getPositionValid());
+        }
+        if (other.getVelocityValid() != false) {
+          setVelocityValid(other.getVelocityValid());
+        }
+        if (other.getEffortValid() != false) {
+          setEffortValid(other.getEffortValid());
+        }
+        if (other.effortSource_ != 0) {
+          setEffortSourceValue(other.getEffortSourceValue());
+        }
+        if (other.getSampleAgeUs() != 0L) {
+          setSampleAgeUs(other.getSampleAgeUs());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 8: {
+                sampleSequence_ = input.readUInt64();
+
+                break;
+              } // case 8
+              case 17: {
+                double v = input.readDouble();
+                ensurePositionRadIsMutable();
+                positionRad_.addDouble(v);
+                break;
+              } // case 17
+              case 18: {
+                int length = input.readRawVarint32();
+                int limit = input.pushLimit(length);
+                ensurePositionRadIsMutable();
+                while (input.getBytesUntilLimit() > 0) {
+                  positionRad_.addDouble(input.readDouble());
+                }
+                input.popLimit(limit);
+                break;
+              } // case 18
+              case 25: {
+                double v = input.readDouble();
+                ensureVelocityRadSIsMutable();
+                velocityRadS_.addDouble(v);
+                break;
+              } // case 25
+              case 26: {
+                int length = input.readRawVarint32();
+                int limit = input.pushLimit(length);
+                ensureVelocityRadSIsMutable();
+                while (input.getBytesUntilLimit() > 0) {
+                  velocityRadS_.addDouble(input.readDouble());
+                }
+                input.popLimit(limit);
+                break;
+              } // case 26
+              case 33: {
+                double v = input.readDouble();
+                ensureEffortNmIsMutable();
+                effortNm_.addDouble(v);
+                break;
+              } // case 33
+              case 34: {
+                int length = input.readRawVarint32();
+                int limit = input.pushLimit(length);
+                ensureEffortNmIsMutable();
+                while (input.getBytesUntilLimit() > 0) {
+                  effortNm_.addDouble(input.readDouble());
+                }
+                input.popLimit(limit);
+                break;
+              } // case 34
+              case 40: {
+                positionValid_ = input.readBool();
+
+                break;
+              } // case 40
+              case 48: {
+                velocityValid_ = input.readBool();
+
+                break;
+              } // case 48
+              case 56: {
+                effortValid_ = input.readBool();
+
+                break;
+              } // case 56
+              case 64: {
+                effortSource_ = input.readEnum();
+
+                break;
+              } // case 64
+              case 72: {
+                sampleAgeUs_ = input.readUInt64();
+
+                break;
+              } // case 72
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int bitField0_;
+
+      private long sampleSequence_ ;
+      /**
+       * uint64 sample_sequence = 1;
+       * @return The sampleSequence.
+       */
+      @java.lang.Override
+      public long getSampleSequence() {
+        return sampleSequence_;
+      }
+      /**
+       * uint64 sample_sequence = 1;
+       * @param value The sampleSequence to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSampleSequence(long value) {
+        
+        sampleSequence_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 sample_sequence = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearSampleSequence() {
+        
+        sampleSequence_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private com.google.protobuf.Internal.DoubleList positionRad_ = emptyDoubleList();
+      private void ensurePositionRadIsMutable() {
+        if (!((bitField0_ & 0x00000001) != 0)) {
+          positionRad_ = mutableCopy(positionRad_);
+          bitField0_ |= 0x00000001;
+         }
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @return A list containing the positionRad.
+       */
+      public java.util.List
+          getPositionRadList() {
+        return ((bitField0_ & 0x00000001) != 0) ?
+                 java.util.Collections.unmodifiableList(positionRad_) : positionRad_;
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @return The count of positionRad.
+       */
+      public int getPositionRadCount() {
+        return positionRad_.size();
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @param index The index of the element to return.
+       * @return The positionRad at the given index.
+       */
+      public double getPositionRad(int index) {
+        return positionRad_.getDouble(index);
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @param index The index to set the value at.
+       * @param value The positionRad to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPositionRad(
+          int index, double value) {
+        ensurePositionRadIsMutable();
+        positionRad_.setDouble(index, value);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @param value The positionRad to add.
+       * @return This builder for chaining.
+       */
+      public Builder addPositionRad(double value) {
+        ensurePositionRadIsMutable();
+        positionRad_.addDouble(value);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @param values The positionRad to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllPositionRad(
+          java.lang.Iterable values) {
+        ensurePositionRadIsMutable();
+        com.google.protobuf.AbstractMessageLite.Builder.addAll(
+            values, positionRad_);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double position_rad = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearPositionRad() {
+        positionRad_ = emptyDoubleList();
+        bitField0_ = (bitField0_ & ~0x00000001);
+        onChanged();
+        return this;
+      }
+
+      private com.google.protobuf.Internal.DoubleList velocityRadS_ = emptyDoubleList();
+      private void ensureVelocityRadSIsMutable() {
+        if (!((bitField0_ & 0x00000002) != 0)) {
+          velocityRadS_ = mutableCopy(velocityRadS_);
+          bitField0_ |= 0x00000002;
+         }
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @return A list containing the velocityRadS.
+       */
+      public java.util.List
+          getVelocityRadSList() {
+        return ((bitField0_ & 0x00000002) != 0) ?
+                 java.util.Collections.unmodifiableList(velocityRadS_) : velocityRadS_;
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @return The count of velocityRadS.
+       */
+      public int getVelocityRadSCount() {
+        return velocityRadS_.size();
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @param index The index of the element to return.
+       * @return The velocityRadS at the given index.
+       */
+      public double getVelocityRadS(int index) {
+        return velocityRadS_.getDouble(index);
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @param index The index to set the value at.
+       * @param value The velocityRadS to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVelocityRadS(
+          int index, double value) {
+        ensureVelocityRadSIsMutable();
+        velocityRadS_.setDouble(index, value);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @param value The velocityRadS to add.
+       * @return This builder for chaining.
+       */
+      public Builder addVelocityRadS(double value) {
+        ensureVelocityRadSIsMutable();
+        velocityRadS_.addDouble(value);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @param values The velocityRadS to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllVelocityRadS(
+          java.lang.Iterable values) {
+        ensureVelocityRadSIsMutable();
+        com.google.protobuf.AbstractMessageLite.Builder.addAll(
+            values, velocityRadS_);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double velocity_rad_s = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearVelocityRadS() {
+        velocityRadS_ = emptyDoubleList();
+        bitField0_ = (bitField0_ & ~0x00000002);
+        onChanged();
+        return this;
+      }
+
+      private com.google.protobuf.Internal.DoubleList effortNm_ = emptyDoubleList();
+      private void ensureEffortNmIsMutable() {
+        if (!((bitField0_ & 0x00000004) != 0)) {
+          effortNm_ = mutableCopy(effortNm_);
+          bitField0_ |= 0x00000004;
+         }
+      }
+      /**
+       * repeated double effort_nm = 4;
+       * @return A list containing the effortNm.
+       */
+      public java.util.List
+          getEffortNmList() {
+        return ((bitField0_ & 0x00000004) != 0) ?
+                 java.util.Collections.unmodifiableList(effortNm_) : effortNm_;
+      }
+      /**
+       * repeated double effort_nm = 4;
+       * @return The count of effortNm.
+       */
+      public int getEffortNmCount() {
+        return effortNm_.size();
+      }
+      /**
+       * repeated double effort_nm = 4;
+       * @param index The index of the element to return.
+       * @return The effortNm at the given index.
+       */
+      public double getEffortNm(int index) {
+        return effortNm_.getDouble(index);
+      }
+      /**
+       * repeated double effort_nm = 4;
+       * @param index The index to set the value at.
+       * @param value The effortNm to set.
+       * @return This builder for chaining.
+       */
+      public Builder setEffortNm(
+          int index, double value) {
+        ensureEffortNmIsMutable();
+        effortNm_.setDouble(index, value);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double effort_nm = 4;
+       * @param value The effortNm to add.
+       * @return This builder for chaining.
+       */
+      public Builder addEffortNm(double value) {
+        ensureEffortNmIsMutable();
+        effortNm_.addDouble(value);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double effort_nm = 4;
+       * @param values The effortNm to add.
+       * @return This builder for chaining.
+       */
+      public Builder addAllEffortNm(
+          java.lang.Iterable values) {
+        ensureEffortNmIsMutable();
+        com.google.protobuf.AbstractMessageLite.Builder.addAll(
+            values, effortNm_);
+        onChanged();
+        return this;
+      }
+      /**
+       * repeated double effort_nm = 4;
+       * @return This builder for chaining.
+       */
+      public Builder clearEffortNm() {
+        effortNm_ = emptyDoubleList();
+        bitField0_ = (bitField0_ & ~0x00000004);
+        onChanged();
+        return this;
+      }
+
+      private boolean positionValid_ ;
+      /**
+       * bool position_valid = 5;
+       * @return The positionValid.
+       */
+      @java.lang.Override
+      public boolean getPositionValid() {
+        return positionValid_;
+      }
+      /**
+       * bool position_valid = 5;
+       * @param value The positionValid to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPositionValid(boolean value) {
+        
+        positionValid_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool position_valid = 5;
+       * @return This builder for chaining.
+       */
+      public Builder clearPositionValid() {
+        
+        positionValid_ = false;
+        onChanged();
+        return this;
+      }
+
+      private boolean velocityValid_ ;
+      /**
+       * bool velocity_valid = 6;
+       * @return The velocityValid.
+       */
+      @java.lang.Override
+      public boolean getVelocityValid() {
+        return velocityValid_;
+      }
+      /**
+       * bool velocity_valid = 6;
+       * @param value The velocityValid to set.
+       * @return This builder for chaining.
+       */
+      public Builder setVelocityValid(boolean value) {
+        
+        velocityValid_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool velocity_valid = 6;
+       * @return This builder for chaining.
+       */
+      public Builder clearVelocityValid() {
+        
+        velocityValid_ = false;
+        onChanged();
+        return this;
+      }
+
+      private boolean effortValid_ ;
+      /**
+       * bool effort_valid = 7;
+       * @return The effortValid.
+       */
+      @java.lang.Override
+      public boolean getEffortValid() {
+        return effortValid_;
+      }
+      /**
+       * bool effort_valid = 7;
+       * @param value The effortValid to set.
+       * @return This builder for chaining.
+       */
+      public Builder setEffortValid(boolean value) {
+        
+        effortValid_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool effort_valid = 7;
+       * @return This builder for chaining.
+       */
+      public Builder clearEffortValid() {
+        
+        effortValid_ = false;
+        onChanged();
+        return this;
+      }
+
+      private int effortSource_ = 0;
+      /**
+       * .cmvr.api.armteleop.v1.EffortSource effort_source = 8;
+       * @return The enum numeric value on the wire for effortSource.
+       */
+      @java.lang.Override public int getEffortSourceValue() {
+        return effortSource_;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.EffortSource effort_source = 8;
+       * @param value The enum numeric value on the wire for effortSource to set.
+       * @return This builder for chaining.
+       */
+      public Builder setEffortSourceValue(int value) {
+        
+        effortSource_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.EffortSource effort_source = 8;
+       * @return The effortSource.
+       */
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.EffortSource getEffortSource() {
+        @SuppressWarnings("deprecation")
+        cmvr.api.armteleop.v1.ArmTeleopV1.EffortSource result = cmvr.api.armteleop.v1.ArmTeleopV1.EffortSource.valueOf(effortSource_);
+        return result == null ? cmvr.api.armteleop.v1.ArmTeleopV1.EffortSource.UNRECOGNIZED : result;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.EffortSource effort_source = 8;
+       * @param value The effortSource to set.
+       * @return This builder for chaining.
+       */
+      public Builder setEffortSource(cmvr.api.armteleop.v1.ArmTeleopV1.EffortSource value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        
+        effortSource_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.EffortSource effort_source = 8;
+       * @return This builder for chaining.
+       */
+      public Builder clearEffortSource() {
+        
+        effortSource_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private long sampleAgeUs_ ;
+      /**
+       * uint64 sample_age_us = 9;
+       * @return The sampleAgeUs.
+       */
+      @java.lang.Override
+      public long getSampleAgeUs() {
+        return sampleAgeUs_;
+      }
+      /**
+       * uint64 sample_age_us = 9;
+       * @param value The sampleAgeUs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSampleAgeUs(long value) {
+        
+        sampleAgeUs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 sample_age_us = 9;
+       * @return This builder for chaining.
+       */
+      public Builder clearSampleAgeUs() {
+        
+        sampleAgeUs_ = 0L;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.armteleop.v1.JointState)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.armteleop.v1.JointState)
+    private static final cmvr.api.armteleop.v1.ArmTeleopV1.JointState DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.armteleop.v1.ArmTeleopV1.JointState();
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.JointState getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public JointState parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.JointState getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface SessionStatusOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.armteleop.v1.SessionStatus)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * string session_id = 1;
+     * @return The sessionId.
+     */
+    java.lang.String getSessionId();
+    /**
+     * string session_id = 1;
+     * @return The bytes for sessionId.
+     */
+    com.google.protobuf.ByteString
+        getSessionIdBytes();
+
+    /**
+     * .cmvr.api.armteleop.v1.SessionPhase phase = 2;
+     * @return The enum numeric value on the wire for phase.
+     */
+    int getPhaseValue();
+    /**
+     * .cmvr.api.armteleop.v1.SessionPhase phase = 2;
+     * @return The phase.
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.SessionPhase getPhase();
+
+    /**
+     * uint64 received_sequence = 3;
+     * @return The receivedSequence.
+     */
+    long getReceivedSequence();
+
+    /**
+     * uint64 applied_sequence = 4;
+     * @return The appliedSequence.
+     */
+    long getAppliedSequence();
+
+    /**
+     * uint64 dropped_setpoints = 5;
+     * @return The droppedSetpoints.
+     */
+    long getDroppedSetpoints();
+
+    /**
+     * uint64 rejected_setpoints = 6;
+     * @return The rejectedSetpoints.
+     */
+    long getRejectedSetpoints();
+
+    /**
+     * uint32 negotiated_watchdog_ms = 7;
+     * @return The negotiatedWatchdogMs.
+     */
+    int getNegotiatedWatchdogMs();
+
+    /**
+     * uint32 lease_remaining_ms = 8;
+     * @return The leaseRemainingMs.
+     */
+    int getLeaseRemainingMs();
+
+    /**
+     * .cmvr.api.armteleop.v1.StopReason stop_reason = 9;
+     * @return The enum numeric value on the wire for stopReason.
+     */
+    int getStopReasonValue();
+    /**
+     * .cmvr.api.armteleop.v1.StopReason stop_reason = 9;
+     * @return The stopReason.
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.StopReason getStopReason();
+
+    /**
+     * string detail = 10;
+     * @return The detail.
+     */
+    java.lang.String getDetail();
+    /**
+     * string detail = 10;
+     * @return The bytes for detail.
+     */
+    com.google.protobuf.ByteString
+        getDetailBytes();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.armteleop.v1.SessionStatus}
+   */
+  public static final class SessionStatus extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.armteleop.v1.SessionStatus)
+      SessionStatusOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use SessionStatus.newBuilder() to construct.
+    private SessionStatus(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private SessionStatus() {
+      sessionId_ = "";
+      phase_ = 0;
+      stopReason_ = 0;
+      detail_ = "";
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new SessionStatus();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_SessionStatus_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
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+          .ensureFieldAccessorsInitialized(
+              cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.class, cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.Builder.class);
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+    /**
+     * string session_id = 1;
+     * @return The sessionId.
+     */
+    @java.lang.Override
+    public java.lang.String getSessionId() {
+      java.lang.Object ref = sessionId_;
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+     * @return The bytes for sessionId.
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+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getSessionIdBytes() {
+      java.lang.Object ref = sessionId_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
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+        sessionId_ = b;
+        return b;
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+    public static final int PHASE_FIELD_NUMBER = 2;
+    private int phase_;
+    /**
+     * .cmvr.api.armteleop.v1.SessionPhase phase = 2;
+     * @return The enum numeric value on the wire for phase.
+     */
+    @java.lang.Override public int getPhaseValue() {
+      return phase_;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.SessionPhase phase = 2;
+     * @return The phase.
+     */
+    @java.lang.Override public cmvr.api.armteleop.v1.ArmTeleopV1.SessionPhase getPhase() {
+      @SuppressWarnings("deprecation")
+      cmvr.api.armteleop.v1.ArmTeleopV1.SessionPhase result = cmvr.api.armteleop.v1.ArmTeleopV1.SessionPhase.valueOf(phase_);
+      return result == null ? cmvr.api.armteleop.v1.ArmTeleopV1.SessionPhase.UNRECOGNIZED : result;
+    }
+
+    public static final int RECEIVED_SEQUENCE_FIELD_NUMBER = 3;
+    private long receivedSequence_;
+    /**
+     * uint64 received_sequence = 3;
+     * @return The receivedSequence.
+     */
+    @java.lang.Override
+    public long getReceivedSequence() {
+      return receivedSequence_;
+    }
+
+    public static final int APPLIED_SEQUENCE_FIELD_NUMBER = 4;
+    private long appliedSequence_;
+    /**
+     * uint64 applied_sequence = 4;
+     * @return The appliedSequence.
+     */
+    @java.lang.Override
+    public long getAppliedSequence() {
+      return appliedSequence_;
+    }
+
+    public static final int DROPPED_SETPOINTS_FIELD_NUMBER = 5;
+    private long droppedSetpoints_;
+    /**
+     * uint64 dropped_setpoints = 5;
+     * @return The droppedSetpoints.
+     */
+    @java.lang.Override
+    public long getDroppedSetpoints() {
+      return droppedSetpoints_;
+    }
+
+    public static final int REJECTED_SETPOINTS_FIELD_NUMBER = 6;
+    private long rejectedSetpoints_;
+    /**
+     * uint64 rejected_setpoints = 6;
+     * @return The rejectedSetpoints.
+     */
+    @java.lang.Override
+    public long getRejectedSetpoints() {
+      return rejectedSetpoints_;
+    }
+
+    public static final int NEGOTIATED_WATCHDOG_MS_FIELD_NUMBER = 7;
+    private int negotiatedWatchdogMs_;
+    /**
+     * uint32 negotiated_watchdog_ms = 7;
+     * @return The negotiatedWatchdogMs.
+     */
+    @java.lang.Override
+    public int getNegotiatedWatchdogMs() {
+      return negotiatedWatchdogMs_;
+    }
+
+    public static final int LEASE_REMAINING_MS_FIELD_NUMBER = 8;
+    private int leaseRemainingMs_;
+    /**
+     * uint32 lease_remaining_ms = 8;
+     * @return The leaseRemainingMs.
+     */
+    @java.lang.Override
+    public int getLeaseRemainingMs() {
+      return leaseRemainingMs_;
+    }
+
+    public static final int STOP_REASON_FIELD_NUMBER = 9;
+    private int stopReason_;
+    /**
+     * .cmvr.api.armteleop.v1.StopReason stop_reason = 9;
+     * @return The enum numeric value on the wire for stopReason.
+     */
+    @java.lang.Override public int getStopReasonValue() {
+      return stopReason_;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.StopReason stop_reason = 9;
+     * @return The stopReason.
+     */
+    @java.lang.Override public cmvr.api.armteleop.v1.ArmTeleopV1.StopReason getStopReason() {
+      @SuppressWarnings("deprecation")
+      cmvr.api.armteleop.v1.ArmTeleopV1.StopReason result = cmvr.api.armteleop.v1.ArmTeleopV1.StopReason.valueOf(stopReason_);
+      return result == null ? cmvr.api.armteleop.v1.ArmTeleopV1.StopReason.UNRECOGNIZED : result;
+    }
+
+    public static final int DETAIL_FIELD_NUMBER = 10;
+    private volatile java.lang.Object detail_;
+    /**
+     * string detail = 10;
+     * @return The detail.
+     */
+    @java.lang.Override
+    public java.lang.String getDetail() {
+      java.lang.Object ref = detail_;
+      if (ref instanceof java.lang.String) {
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+        java.lang.String s = bs.toStringUtf8();
+        detail_ = s;
+        return s;
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+    /**
+     * string detail = 10;
+     * @return The bytes for detail.
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+    @java.lang.Override
+    public com.google.protobuf.ByteString
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+      java.lang.Object ref = detail_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
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+        detail_ = b;
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+    @java.lang.Override
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+      if (isInitialized == 0) return false;
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+      memoizedIsInitialized = 1;
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+    @java.lang.Override
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+      if (!getSessionId()
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+      if (getReceivedSequence()
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+      if (getAppliedSequence()
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+      if (getRejectedSetpoints()
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+      if (getNegotiatedWatchdogMs()
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+      if (getLeaseRemainingMs()
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+      if (stopReason_ != other.stopReason_) return false;
+      if (!getDetail()
+          .equals(other.getDetail())) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
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+      hash = (53 * hash) + getLeaseRemainingMs();
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+      hash = (53 * hash) + stopReason_;
+      hash = (37 * hash) + DETAIL_FIELD_NUMBER;
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+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
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+    public static cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
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+    public static cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+        throws java.io.IOException {
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
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+    public static cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
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+    public static cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
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+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
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+    public static cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
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+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.armteleop.v1.SessionStatus}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.armteleop.v1.SessionStatus)
+        cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatusOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_SessionStatus_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
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+
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+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        sessionId_ = "";
+
+        phase_ = 0;
+
+        receivedSequence_ = 0L;
+
+        appliedSequence_ = 0L;
+
+        droppedSetpoints_ = 0L;
+
+        rejectedSetpoints_ = 0L;
+
+        negotiatedWatchdogMs_ = 0;
+
+        leaseRemainingMs_ = 0;
+
+        stopReason_ = 0;
+
+        detail_ = "";
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_SessionStatus_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus getDefaultInstanceForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus build() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus buildPartial() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus result = new cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus(this);
+        result.sessionId_ = sessionId_;
+        result.phase_ = phase_;
+        result.receivedSequence_ = receivedSequence_;
+        result.appliedSequence_ = appliedSequence_;
+        result.droppedSetpoints_ = droppedSetpoints_;
+        result.rejectedSetpoints_ = rejectedSetpoints_;
+        result.negotiatedWatchdogMs_ = negotiatedWatchdogMs_;
+        result.leaseRemainingMs_ = leaseRemainingMs_;
+        result.stopReason_ = stopReason_;
+        result.detail_ = detail_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus) {
+          return mergeFrom((cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus other) {
+        if (other == cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.getDefaultInstance()) return this;
+        if (!other.getSessionId().isEmpty()) {
+          sessionId_ = other.sessionId_;
+          onChanged();
+        }
+        if (other.phase_ != 0) {
+          setPhaseValue(other.getPhaseValue());
+        }
+        if (other.getReceivedSequence() != 0L) {
+          setReceivedSequence(other.getReceivedSequence());
+        }
+        if (other.getAppliedSequence() != 0L) {
+          setAppliedSequence(other.getAppliedSequence());
+        }
+        if (other.getDroppedSetpoints() != 0L) {
+          setDroppedSetpoints(other.getDroppedSetpoints());
+        }
+        if (other.getRejectedSetpoints() != 0L) {
+          setRejectedSetpoints(other.getRejectedSetpoints());
+        }
+        if (other.getNegotiatedWatchdogMs() != 0) {
+          setNegotiatedWatchdogMs(other.getNegotiatedWatchdogMs());
+        }
+        if (other.getLeaseRemainingMs() != 0) {
+          setLeaseRemainingMs(other.getLeaseRemainingMs());
+        }
+        if (other.stopReason_ != 0) {
+          setStopReasonValue(other.getStopReasonValue());
+        }
+        if (!other.getDetail().isEmpty()) {
+          detail_ = other.detail_;
+          onChanged();
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                sessionId_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 10
+              case 16: {
+                phase_ = input.readEnum();
+
+                break;
+              } // case 16
+              case 24: {
+                receivedSequence_ = input.readUInt64();
+
+                break;
+              } // case 24
+              case 32: {
+                appliedSequence_ = input.readUInt64();
+
+                break;
+              } // case 32
+              case 40: {
+                droppedSetpoints_ = input.readUInt64();
+
+                break;
+              } // case 40
+              case 48: {
+                rejectedSetpoints_ = input.readUInt64();
+
+                break;
+              } // case 48
+              case 56: {
+                negotiatedWatchdogMs_ = input.readUInt32();
+
+                break;
+              } // case 56
+              case 64: {
+                leaseRemainingMs_ = input.readUInt32();
+
+                break;
+              } // case 64
+              case 72: {
+                stopReason_ = input.readEnum();
+
+                break;
+              } // case 72
+              case 82: {
+                detail_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 82
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private java.lang.Object sessionId_ = "";
+      /**
+       * string session_id = 1;
+       * @return The sessionId.
+       */
+      public java.lang.String getSessionId() {
+        java.lang.Object ref = sessionId_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          sessionId_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string session_id = 1;
+       * @return The bytes for sessionId.
+       */
+      public com.google.protobuf.ByteString
+          getSessionIdBytes() {
+        java.lang.Object ref = sessionId_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          sessionId_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string session_id = 1;
+       * @param value The sessionId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSessionId(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        sessionId_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string session_id = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearSessionId() {
+        
+        sessionId_ = getDefaultInstance().getSessionId();
+        onChanged();
+        return this;
+      }
+      /**
+       * string session_id = 1;
+       * @param value The bytes for sessionId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSessionIdBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        sessionId_ = value;
+        onChanged();
+        return this;
+      }
+
+      private int phase_ = 0;
+      /**
+       * .cmvr.api.armteleop.v1.SessionPhase phase = 2;
+       * @return The enum numeric value on the wire for phase.
+       */
+      @java.lang.Override public int getPhaseValue() {
+        return phase_;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.SessionPhase phase = 2;
+       * @param value The enum numeric value on the wire for phase to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPhaseValue(int value) {
+        
+        phase_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.SessionPhase phase = 2;
+       * @return The phase.
+       */
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.SessionPhase getPhase() {
+        @SuppressWarnings("deprecation")
+        cmvr.api.armteleop.v1.ArmTeleopV1.SessionPhase result = cmvr.api.armteleop.v1.ArmTeleopV1.SessionPhase.valueOf(phase_);
+        return result == null ? cmvr.api.armteleop.v1.ArmTeleopV1.SessionPhase.UNRECOGNIZED : result;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.SessionPhase phase = 2;
+       * @param value The phase to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPhase(cmvr.api.armteleop.v1.ArmTeleopV1.SessionPhase value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        
+        phase_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.SessionPhase phase = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearPhase() {
+        
+        phase_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private long receivedSequence_ ;
+      /**
+       * uint64 received_sequence = 3;
+       * @return The receivedSequence.
+       */
+      @java.lang.Override
+      public long getReceivedSequence() {
+        return receivedSequence_;
+      }
+      /**
+       * uint64 received_sequence = 3;
+       * @param value The receivedSequence to set.
+       * @return This builder for chaining.
+       */
+      public Builder setReceivedSequence(long value) {
+        
+        receivedSequence_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 received_sequence = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearReceivedSequence() {
+        
+        receivedSequence_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private long appliedSequence_ ;
+      /**
+       * uint64 applied_sequence = 4;
+       * @return The appliedSequence.
+       */
+      @java.lang.Override
+      public long getAppliedSequence() {
+        return appliedSequence_;
+      }
+      /**
+       * uint64 applied_sequence = 4;
+       * @param value The appliedSequence to set.
+       * @return This builder for chaining.
+       */
+      public Builder setAppliedSequence(long value) {
+        
+        appliedSequence_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 applied_sequence = 4;
+       * @return This builder for chaining.
+       */
+      public Builder clearAppliedSequence() {
+        
+        appliedSequence_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private long droppedSetpoints_ ;
+      /**
+       * uint64 dropped_setpoints = 5;
+       * @return The droppedSetpoints.
+       */
+      @java.lang.Override
+      public long getDroppedSetpoints() {
+        return droppedSetpoints_;
+      }
+      /**
+       * uint64 dropped_setpoints = 5;
+       * @param value The droppedSetpoints to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDroppedSetpoints(long value) {
+        
+        droppedSetpoints_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 dropped_setpoints = 5;
+       * @return This builder for chaining.
+       */
+      public Builder clearDroppedSetpoints() {
+        
+        droppedSetpoints_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private long rejectedSetpoints_ ;
+      /**
+       * uint64 rejected_setpoints = 6;
+       * @return The rejectedSetpoints.
+       */
+      @java.lang.Override
+      public long getRejectedSetpoints() {
+        return rejectedSetpoints_;
+      }
+      /**
+       * uint64 rejected_setpoints = 6;
+       * @param value The rejectedSetpoints to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRejectedSetpoints(long value) {
+        
+        rejectedSetpoints_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint64 rejected_setpoints = 6;
+       * @return This builder for chaining.
+       */
+      public Builder clearRejectedSetpoints() {
+        
+        rejectedSetpoints_ = 0L;
+        onChanged();
+        return this;
+      }
+
+      private int negotiatedWatchdogMs_ ;
+      /**
+       * uint32 negotiated_watchdog_ms = 7;
+       * @return The negotiatedWatchdogMs.
+       */
+      @java.lang.Override
+      public int getNegotiatedWatchdogMs() {
+        return negotiatedWatchdogMs_;
+      }
+      /**
+       * uint32 negotiated_watchdog_ms = 7;
+       * @param value The negotiatedWatchdogMs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setNegotiatedWatchdogMs(int value) {
+        
+        negotiatedWatchdogMs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint32 negotiated_watchdog_ms = 7;
+       * @return This builder for chaining.
+       */
+      public Builder clearNegotiatedWatchdogMs() {
+        
+        negotiatedWatchdogMs_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int leaseRemainingMs_ ;
+      /**
+       * uint32 lease_remaining_ms = 8;
+       * @return The leaseRemainingMs.
+       */
+      @java.lang.Override
+      public int getLeaseRemainingMs() {
+        return leaseRemainingMs_;
+      }
+      /**
+       * uint32 lease_remaining_ms = 8;
+       * @param value The leaseRemainingMs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setLeaseRemainingMs(int value) {
+        
+        leaseRemainingMs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint32 lease_remaining_ms = 8;
+       * @return This builder for chaining.
+       */
+      public Builder clearLeaseRemainingMs() {
+        
+        leaseRemainingMs_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int stopReason_ = 0;
+      /**
+       * .cmvr.api.armteleop.v1.StopReason stop_reason = 9;
+       * @return The enum numeric value on the wire for stopReason.
+       */
+      @java.lang.Override public int getStopReasonValue() {
+        return stopReason_;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopReason stop_reason = 9;
+       * @param value The enum numeric value on the wire for stopReason to set.
+       * @return This builder for chaining.
+       */
+      public Builder setStopReasonValue(int value) {
+        
+        stopReason_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopReason stop_reason = 9;
+       * @return The stopReason.
+       */
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.StopReason getStopReason() {
+        @SuppressWarnings("deprecation")
+        cmvr.api.armteleop.v1.ArmTeleopV1.StopReason result = cmvr.api.armteleop.v1.ArmTeleopV1.StopReason.valueOf(stopReason_);
+        return result == null ? cmvr.api.armteleop.v1.ArmTeleopV1.StopReason.UNRECOGNIZED : result;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopReason stop_reason = 9;
+       * @param value The stopReason to set.
+       * @return This builder for chaining.
+       */
+      public Builder setStopReason(cmvr.api.armteleop.v1.ArmTeleopV1.StopReason value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        
+        stopReason_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.StopReason stop_reason = 9;
+       * @return This builder for chaining.
+       */
+      public Builder clearStopReason() {
+        
+        stopReason_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object detail_ = "";
+      /**
+       * string detail = 10;
+       * @return The detail.
+       */
+      public java.lang.String getDetail() {
+        java.lang.Object ref = detail_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          detail_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string detail = 10;
+       * @return The bytes for detail.
+       */
+      public com.google.protobuf.ByteString
+          getDetailBytes() {
+        java.lang.Object ref = detail_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          detail_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string detail = 10;
+       * @param value The detail to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDetail(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        detail_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string detail = 10;
+       * @return This builder for chaining.
+       */
+      public Builder clearDetail() {
+        
+        detail_ = getDefaultInstance().getDetail();
+        onChanged();
+        return this;
+      }
+      /**
+       * string detail = 10;
+       * @param value The bytes for detail to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDetailBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        detail_ = value;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.armteleop.v1.SessionStatus)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.armteleop.v1.SessionStatus)
+    private static final cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus();
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public SessionStatus parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface RobotSafetyStateOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.armteleop.v1.RobotSafetyState)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * bool connected = 1;
+     * @return The connected.
+     */
+    boolean getConnected();
+
+    /**
+     * bool powered_on = 2;
+     * @return The poweredOn.
+     */
+    boolean getPoweredOn();
+
+    /**
+     * bool protective_stopped = 3;
+     * @return The protectiveStopped.
+     */
+    boolean getProtectiveStopped();
+
+    /**
+     * bool emergency_stopped = 4;
+     * @return The emergencyStopped.
+     */
+    boolean getEmergencyStopped();
+
+    /**
+     * bool fault = 5;
+     * @return The fault.
+     */
+    boolean getFault();
+
+    /**
+     * string fault_detail = 6;
+     * @return The faultDetail.
+     */
+    java.lang.String getFaultDetail();
+    /**
+     * string fault_detail = 6;
+     * @return The bytes for faultDetail.
+     */
+    com.google.protobuf.ByteString
+        getFaultDetailBytes();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.armteleop.v1.RobotSafetyState}
+   */
+  public static final class RobotSafetyState extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.armteleop.v1.RobotSafetyState)
+      RobotSafetyStateOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use RobotSafetyState.newBuilder() to construct.
+    private RobotSafetyState(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private RobotSafetyState() {
+      faultDetail_ = "";
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new RobotSafetyState();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_RobotSafetyState_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_RobotSafetyState_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.class, cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.Builder.class);
+    }
+
+    public static final int CONNECTED_FIELD_NUMBER = 1;
+    private boolean connected_;
+    /**
+     * bool connected = 1;
+     * @return The connected.
+     */
+    @java.lang.Override
+    public boolean getConnected() {
+      return connected_;
+    }
+
+    public static final int POWERED_ON_FIELD_NUMBER = 2;
+    private boolean poweredOn_;
+    /**
+     * bool powered_on = 2;
+     * @return The poweredOn.
+     */
+    @java.lang.Override
+    public boolean getPoweredOn() {
+      return poweredOn_;
+    }
+
+    public static final int PROTECTIVE_STOPPED_FIELD_NUMBER = 3;
+    private boolean protectiveStopped_;
+    /**
+     * bool protective_stopped = 3;
+     * @return The protectiveStopped.
+     */
+    @java.lang.Override
+    public boolean getProtectiveStopped() {
+      return protectiveStopped_;
+    }
+
+    public static final int EMERGENCY_STOPPED_FIELD_NUMBER = 4;
+    private boolean emergencyStopped_;
+    /**
+     * bool emergency_stopped = 4;
+     * @return The emergencyStopped.
+     */
+    @java.lang.Override
+    public boolean getEmergencyStopped() {
+      return emergencyStopped_;
+    }
+
+    public static final int FAULT_FIELD_NUMBER = 5;
+    private boolean fault_;
+    /**
+     * bool fault = 5;
+     * @return The fault.
+     */
+    @java.lang.Override
+    public boolean getFault() {
+      return fault_;
+    }
+
+    public static final int FAULT_DETAIL_FIELD_NUMBER = 6;
+    private volatile java.lang.Object faultDetail_;
+    /**
+     * string fault_detail = 6;
+     * @return The faultDetail.
+     */
+    @java.lang.Override
+    public java.lang.String getFaultDetail() {
+      java.lang.Object ref = faultDetail_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        faultDetail_ = s;
+        return s;
+      }
+    }
+    /**
+     * string fault_detail = 6;
+     * @return The bytes for faultDetail.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getFaultDetailBytes() {
+      java.lang.Object ref = faultDetail_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        faultDetail_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (connected_ != false) {
+        output.writeBool(1, connected_);
+      }
+      if (poweredOn_ != false) {
+        output.writeBool(2, poweredOn_);
+      }
+      if (protectiveStopped_ != false) {
+        output.writeBool(3, protectiveStopped_);
+      }
+      if (emergencyStopped_ != false) {
+        output.writeBool(4, emergencyStopped_);
+      }
+      if (fault_ != false) {
+        output.writeBool(5, fault_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(faultDetail_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 6, faultDetail_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (connected_ != false) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(1, connected_);
+      }
+      if (poweredOn_ != false) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(2, poweredOn_);
+      }
+      if (protectiveStopped_ != false) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(3, protectiveStopped_);
+      }
+      if (emergencyStopped_ != false) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(4, emergencyStopped_);
+      }
+      if (fault_ != false) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBoolSize(5, fault_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(faultDetail_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(6, faultDetail_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState)) {
+        return super.equals(obj);
+      }
+      cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState other = (cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState) obj;
+
+      if (getConnected()
+          != other.getConnected()) return false;
+      if (getPoweredOn()
+          != other.getPoweredOn()) return false;
+      if (getProtectiveStopped()
+          != other.getProtectiveStopped()) return false;
+      if (getEmergencyStopped()
+          != other.getEmergencyStopped()) return false;
+      if (getFault()
+          != other.getFault()) return false;
+      if (!getFaultDetail()
+          .equals(other.getFaultDetail())) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (37 * hash) + CONNECTED_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+          getConnected());
+      hash = (37 * hash) + POWERED_ON_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+          getPoweredOn());
+      hash = (37 * hash) + PROTECTIVE_STOPPED_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+          getProtectiveStopped());
+      hash = (37 * hash) + EMERGENCY_STOPPED_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+          getEmergencyStopped());
+      hash = (37 * hash) + FAULT_FIELD_NUMBER;
+      hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
+          getFault());
+      hash = (37 * hash) + FAULT_DETAIL_FIELD_NUMBER;
+      hash = (53 * hash) + getFaultDetail().hashCode();
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.armteleop.v1.RobotSafetyState}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.armteleop.v1.RobotSafetyState)
+        cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyStateOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_RobotSafetyState_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_RobotSafetyState_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.class, cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.Builder.class);
+      }
+
+      // Construct using cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        connected_ = false;
+
+        poweredOn_ = false;
+
+        protectiveStopped_ = false;
+
+        emergencyStopped_ = false;
+
+        fault_ = false;
+
+        faultDetail_ = "";
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_RobotSafetyState_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState getDefaultInstanceForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState build() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState buildPartial() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState result = new cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState(this);
+        result.connected_ = connected_;
+        result.poweredOn_ = poweredOn_;
+        result.protectiveStopped_ = protectiveStopped_;
+        result.emergencyStopped_ = emergencyStopped_;
+        result.fault_ = fault_;
+        result.faultDetail_ = faultDetail_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState) {
+          return mergeFrom((cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState other) {
+        if (other == cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.getDefaultInstance()) return this;
+        if (other.getConnected() != false) {
+          setConnected(other.getConnected());
+        }
+        if (other.getPoweredOn() != false) {
+          setPoweredOn(other.getPoweredOn());
+        }
+        if (other.getProtectiveStopped() != false) {
+          setProtectiveStopped(other.getProtectiveStopped());
+        }
+        if (other.getEmergencyStopped() != false) {
+          setEmergencyStopped(other.getEmergencyStopped());
+        }
+        if (other.getFault() != false) {
+          setFault(other.getFault());
+        }
+        if (!other.getFaultDetail().isEmpty()) {
+          faultDetail_ = other.faultDetail_;
+          onChanged();
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 8: {
+                connected_ = input.readBool();
+
+                break;
+              } // case 8
+              case 16: {
+                poweredOn_ = input.readBool();
+
+                break;
+              } // case 16
+              case 24: {
+                protectiveStopped_ = input.readBool();
+
+                break;
+              } // case 24
+              case 32: {
+                emergencyStopped_ = input.readBool();
+
+                break;
+              } // case 32
+              case 40: {
+                fault_ = input.readBool();
+
+                break;
+              } // case 40
+              case 50: {
+                faultDetail_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 50
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private boolean connected_ ;
+      /**
+       * bool connected = 1;
+       * @return The connected.
+       */
+      @java.lang.Override
+      public boolean getConnected() {
+        return connected_;
+      }
+      /**
+       * bool connected = 1;
+       * @param value The connected to set.
+       * @return This builder for chaining.
+       */
+      public Builder setConnected(boolean value) {
+        
+        connected_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool connected = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearConnected() {
+        
+        connected_ = false;
+        onChanged();
+        return this;
+      }
+
+      private boolean poweredOn_ ;
+      /**
+       * bool powered_on = 2;
+       * @return The poweredOn.
+       */
+      @java.lang.Override
+      public boolean getPoweredOn() {
+        return poweredOn_;
+      }
+      /**
+       * bool powered_on = 2;
+       * @param value The poweredOn to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPoweredOn(boolean value) {
+        
+        poweredOn_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool powered_on = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearPoweredOn() {
+        
+        poweredOn_ = false;
+        onChanged();
+        return this;
+      }
+
+      private boolean protectiveStopped_ ;
+      /**
+       * bool protective_stopped = 3;
+       * @return The protectiveStopped.
+       */
+      @java.lang.Override
+      public boolean getProtectiveStopped() {
+        return protectiveStopped_;
+      }
+      /**
+       * bool protective_stopped = 3;
+       * @param value The protectiveStopped to set.
+       * @return This builder for chaining.
+       */
+      public Builder setProtectiveStopped(boolean value) {
+        
+        protectiveStopped_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool protective_stopped = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearProtectiveStopped() {
+        
+        protectiveStopped_ = false;
+        onChanged();
+        return this;
+      }
+
+      private boolean emergencyStopped_ ;
+      /**
+       * bool emergency_stopped = 4;
+       * @return The emergencyStopped.
+       */
+      @java.lang.Override
+      public boolean getEmergencyStopped() {
+        return emergencyStopped_;
+      }
+      /**
+       * bool emergency_stopped = 4;
+       * @param value The emergencyStopped to set.
+       * @return This builder for chaining.
+       */
+      public Builder setEmergencyStopped(boolean value) {
+        
+        emergencyStopped_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool emergency_stopped = 4;
+       * @return This builder for chaining.
+       */
+      public Builder clearEmergencyStopped() {
+        
+        emergencyStopped_ = false;
+        onChanged();
+        return this;
+      }
+
+      private boolean fault_ ;
+      /**
+       * bool fault = 5;
+       * @return The fault.
+       */
+      @java.lang.Override
+      public boolean getFault() {
+        return fault_;
+      }
+      /**
+       * bool fault = 5;
+       * @param value The fault to set.
+       * @return This builder for chaining.
+       */
+      public Builder setFault(boolean value) {
+        
+        fault_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * bool fault = 5;
+       * @return This builder for chaining.
+       */
+      public Builder clearFault() {
+        
+        fault_ = false;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object faultDetail_ = "";
+      /**
+       * string fault_detail = 6;
+       * @return The faultDetail.
+       */
+      public java.lang.String getFaultDetail() {
+        java.lang.Object ref = faultDetail_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          faultDetail_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string fault_detail = 6;
+       * @return The bytes for faultDetail.
+       */
+      public com.google.protobuf.ByteString
+          getFaultDetailBytes() {
+        java.lang.Object ref = faultDetail_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          faultDetail_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string fault_detail = 6;
+       * @param value The faultDetail to set.
+       * @return This builder for chaining.
+       */
+      public Builder setFaultDetail(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        faultDetail_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string fault_detail = 6;
+       * @return This builder for chaining.
+       */
+      public Builder clearFaultDetail() {
+        
+        faultDetail_ = getDefaultInstance().getFaultDetail();
+        onChanged();
+        return this;
+      }
+      /**
+       * string fault_detail = 6;
+       * @param value The bytes for faultDetail to set.
+       * @return This builder for chaining.
+       */
+      public Builder setFaultDetailBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        faultDetail_ = value;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.armteleop.v1.RobotSafetyState)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.armteleop.v1.RobotSafetyState)
+    private static final cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState();
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public RobotSafetyState parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  public interface ServerFrameOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.armteleop.v1.ServerFrame)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+     * @return Whether the status field is set.
+     */
+    boolean hasStatus();
+    /**
+     * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+     * @return The status.
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus getStatus();
+    /**
+     * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatusOrBuilder getStatusOrBuilder();
+
+    /**
+     * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+     * @return Whether the jointState field is set.
+     */
+    boolean hasJointState();
+    /**
+     * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+     * @return The jointState.
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.JointState getJointState();
+    /**
+     * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.JointStateOrBuilder getJointStateOrBuilder();
+
+    /**
+     * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+     * @return Whether the safety field is set.
+     */
+    boolean hasSafety();
+    /**
+     * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+     * @return The safety.
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState getSafety();
+    /**
+     * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+     */
+    cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyStateOrBuilder getSafetyOrBuilder();
+  }
+  /**
+   * Protobuf type {@code cmvr.api.armteleop.v1.ServerFrame}
+   */
+  public static final class ServerFrame extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.armteleop.v1.ServerFrame)
+      ServerFrameOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use ServerFrame.newBuilder() to construct.
+    private ServerFrame(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private ServerFrame() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new ServerFrame();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ServerFrame_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ServerFrame_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame.class, cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame.Builder.class);
+    }
+
+    public static final int STATUS_FIELD_NUMBER = 1;
+    private cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus status_;
+    /**
+     * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+     * @return Whether the status field is set.
+     */
+    @java.lang.Override
+    public boolean hasStatus() {
+      return status_ != null;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+     * @return The status.
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus getStatus() {
+      return status_ == null ? cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.getDefaultInstance() : status_;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatusOrBuilder getStatusOrBuilder() {
+      return getStatus();
+    }
+
+    public static final int JOINT_STATE_FIELD_NUMBER = 2;
+    private cmvr.api.armteleop.v1.ArmTeleopV1.JointState jointState_;
+    /**
+     * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+     * @return Whether the jointState field is set.
+     */
+    @java.lang.Override
+    public boolean hasJointState() {
+      return jointState_ != null;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+     * @return The jointState.
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.JointState getJointState() {
+      return jointState_ == null ? cmvr.api.armteleop.v1.ArmTeleopV1.JointState.getDefaultInstance() : jointState_;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.JointStateOrBuilder getJointStateOrBuilder() {
+      return getJointState();
+    }
+
+    public static final int SAFETY_FIELD_NUMBER = 3;
+    private cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState safety_;
+    /**
+     * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+     * @return Whether the safety field is set.
+     */
+    @java.lang.Override
+    public boolean hasSafety() {
+      return safety_ != null;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+     * @return The safety.
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState getSafety() {
+      return safety_ == null ? cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.getDefaultInstance() : safety_;
+    }
+    /**
+     * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+     */
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyStateOrBuilder getSafetyOrBuilder() {
+      return getSafety();
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (status_ != null) {
+        output.writeMessage(1, getStatus());
+      }
+      if (jointState_ != null) {
+        output.writeMessage(2, getJointState());
+      }
+      if (safety_ != null) {
+        output.writeMessage(3, getSafety());
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (status_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(1, getStatus());
+      }
+      if (jointState_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(2, getJointState());
+      }
+      if (safety_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(3, getSafety());
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame)) {
+        return super.equals(obj);
+      }
+      cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame other = (cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame) obj;
+
+      if (hasStatus() != other.hasStatus()) return false;
+      if (hasStatus()) {
+        if (!getStatus()
+            .equals(other.getStatus())) return false;
+      }
+      if (hasJointState() != other.hasJointState()) return false;
+      if (hasJointState()) {
+        if (!getJointState()
+            .equals(other.getJointState())) return false;
+      }
+      if (hasSafety() != other.hasSafety()) return false;
+      if (hasSafety()) {
+        if (!getSafety()
+            .equals(other.getSafety())) return false;
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasStatus()) {
+        hash = (37 * hash) + STATUS_FIELD_NUMBER;
+        hash = (53 * hash) + getStatus().hashCode();
+      }
+      if (hasJointState()) {
+        hash = (37 * hash) + JOINT_STATE_FIELD_NUMBER;
+        hash = (53 * hash) + getJointState().hashCode();
+      }
+      if (hasSafety()) {
+        hash = (37 * hash) + SAFETY_FIELD_NUMBER;
+        hash = (53 * hash) + getSafety().hashCode();
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.api.armteleop.v1.ServerFrame}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.armteleop.v1.ServerFrame)
+        cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrameOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ServerFrame_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ServerFrame_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame.class, cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame.Builder.class);
+      }
+
+      // Construct using cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        if (statusBuilder_ == null) {
+          status_ = null;
+        } else {
+          status_ = null;
+          statusBuilder_ = null;
+        }
+        if (jointStateBuilder_ == null) {
+          jointState_ = null;
+        } else {
+          jointState_ = null;
+          jointStateBuilder_ = null;
+        }
+        if (safetyBuilder_ == null) {
+          safety_ = null;
+        } else {
+          safety_ = null;
+          safetyBuilder_ = null;
+        }
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.internal_static_cmvr_api_armteleop_v1_ServerFrame_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame getDefaultInstanceForType() {
+        return cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame build() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame buildPartial() {
+        cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame result = new cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame(this);
+        if (statusBuilder_ == null) {
+          result.status_ = status_;
+        } else {
+          result.status_ = statusBuilder_.build();
+        }
+        if (jointStateBuilder_ == null) {
+          result.jointState_ = jointState_;
+        } else {
+          result.jointState_ = jointStateBuilder_.build();
+        }
+        if (safetyBuilder_ == null) {
+          result.safety_ = safety_;
+        } else {
+          result.safety_ = safetyBuilder_.build();
+        }
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame) {
+          return mergeFrom((cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame other) {
+        if (other == cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame.getDefaultInstance()) return this;
+        if (other.hasStatus()) {
+          mergeStatus(other.getStatus());
+        }
+        if (other.hasJointState()) {
+          mergeJointState(other.getJointState());
+        }
+        if (other.hasSafety()) {
+          mergeSafety(other.getSafety());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                input.readMessage(
+                    getStatusFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 10
+              case 18: {
+                input.readMessage(
+                    getJointStateFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 18
+              case 26: {
+                input.readMessage(
+                    getSafetyFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 26
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus status_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus, cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatusOrBuilder> statusBuilder_;
+      /**
+       * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+       * @return Whether the status field is set.
+       */
+      public boolean hasStatus() {
+        return statusBuilder_ != null || status_ != null;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+       * @return The status.
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus getStatus() {
+        if (statusBuilder_ == null) {
+          return status_ == null ? cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.getDefaultInstance() : status_;
+        } else {
+          return statusBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+       */
+      public Builder setStatus(cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus value) {
+        if (statusBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          status_ = value;
+          onChanged();
+        } else {
+          statusBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+       */
+      public Builder setStatus(
+          cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.Builder builderForValue) {
+        if (statusBuilder_ == null) {
+          status_ = builderForValue.build();
+          onChanged();
+        } else {
+          statusBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+       */
+      public Builder mergeStatus(cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus value) {
+        if (statusBuilder_ == null) {
+          if (status_ != null) {
+            status_ =
+              cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.newBuilder(status_).mergeFrom(value).buildPartial();
+          } else {
+            status_ = value;
+          }
+          onChanged();
+        } else {
+          statusBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+       */
+      public Builder clearStatus() {
+        if (statusBuilder_ == null) {
+          status_ = null;
+          onChanged();
+        } else {
+          status_ = null;
+          statusBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.Builder getStatusBuilder() {
+        
+        onChanged();
+        return getStatusFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatusOrBuilder getStatusOrBuilder() {
+        if (statusBuilder_ != null) {
+          return statusBuilder_.getMessageOrBuilder();
+        } else {
+          return status_ == null ?
+              cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.getDefaultInstance() : status_;
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.SessionStatus status = 1;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus, cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatusOrBuilder> 
+          getStatusFieldBuilder() {
+        if (statusBuilder_ == null) {
+          statusBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus, cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatus.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.SessionStatusOrBuilder>(
+                  getStatus(),
+                  getParentForChildren(),
+                  isClean());
+          status_ = null;
+        }
+        return statusBuilder_;
+      }
+
+      private cmvr.api.armteleop.v1.ArmTeleopV1.JointState jointState_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.JointState, cmvr.api.armteleop.v1.ArmTeleopV1.JointState.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.JointStateOrBuilder> jointStateBuilder_;
+      /**
+       * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+       * @return Whether the jointState field is set.
+       */
+      public boolean hasJointState() {
+        return jointStateBuilder_ != null || jointState_ != null;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+       * @return The jointState.
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.JointState getJointState() {
+        if (jointStateBuilder_ == null) {
+          return jointState_ == null ? cmvr.api.armteleop.v1.ArmTeleopV1.JointState.getDefaultInstance() : jointState_;
+        } else {
+          return jointStateBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+       */
+      public Builder setJointState(cmvr.api.armteleop.v1.ArmTeleopV1.JointState value) {
+        if (jointStateBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          jointState_ = value;
+          onChanged();
+        } else {
+          jointStateBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+       */
+      public Builder setJointState(
+          cmvr.api.armteleop.v1.ArmTeleopV1.JointState.Builder builderForValue) {
+        if (jointStateBuilder_ == null) {
+          jointState_ = builderForValue.build();
+          onChanged();
+        } else {
+          jointStateBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+       */
+      public Builder mergeJointState(cmvr.api.armteleop.v1.ArmTeleopV1.JointState value) {
+        if (jointStateBuilder_ == null) {
+          if (jointState_ != null) {
+            jointState_ =
+              cmvr.api.armteleop.v1.ArmTeleopV1.JointState.newBuilder(jointState_).mergeFrom(value).buildPartial();
+          } else {
+            jointState_ = value;
+          }
+          onChanged();
+        } else {
+          jointStateBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+       */
+      public Builder clearJointState() {
+        if (jointStateBuilder_ == null) {
+          jointState_ = null;
+          onChanged();
+        } else {
+          jointState_ = null;
+          jointStateBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.JointState.Builder getJointStateBuilder() {
+        
+        onChanged();
+        return getJointStateFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.JointStateOrBuilder getJointStateOrBuilder() {
+        if (jointStateBuilder_ != null) {
+          return jointStateBuilder_.getMessageOrBuilder();
+        } else {
+          return jointState_ == null ?
+              cmvr.api.armteleop.v1.ArmTeleopV1.JointState.getDefaultInstance() : jointState_;
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.JointState joint_state = 2;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.JointState, cmvr.api.armteleop.v1.ArmTeleopV1.JointState.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.JointStateOrBuilder> 
+          getJointStateFieldBuilder() {
+        if (jointStateBuilder_ == null) {
+          jointStateBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.armteleop.v1.ArmTeleopV1.JointState, cmvr.api.armteleop.v1.ArmTeleopV1.JointState.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.JointStateOrBuilder>(
+                  getJointState(),
+                  getParentForChildren(),
+                  isClean());
+          jointState_ = null;
+        }
+        return jointStateBuilder_;
+      }
+
+      private cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState safety_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState, cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyStateOrBuilder> safetyBuilder_;
+      /**
+       * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+       * @return Whether the safety field is set.
+       */
+      public boolean hasSafety() {
+        return safetyBuilder_ != null || safety_ != null;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+       * @return The safety.
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState getSafety() {
+        if (safetyBuilder_ == null) {
+          return safety_ == null ? cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.getDefaultInstance() : safety_;
+        } else {
+          return safetyBuilder_.getMessage();
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+       */
+      public Builder setSafety(cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState value) {
+        if (safetyBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          safety_ = value;
+          onChanged();
+        } else {
+          safetyBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+       */
+      public Builder setSafety(
+          cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.Builder builderForValue) {
+        if (safetyBuilder_ == null) {
+          safety_ = builderForValue.build();
+          onChanged();
+        } else {
+          safetyBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+       */
+      public Builder mergeSafety(cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState value) {
+        if (safetyBuilder_ == null) {
+          if (safety_ != null) {
+            safety_ =
+              cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.newBuilder(safety_).mergeFrom(value).buildPartial();
+          } else {
+            safety_ = value;
+          }
+          onChanged();
+        } else {
+          safetyBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+       */
+      public Builder clearSafety() {
+        if (safetyBuilder_ == null) {
+          safety_ = null;
+          onChanged();
+        } else {
+          safety_ = null;
+          safetyBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.Builder getSafetyBuilder() {
+        
+        onChanged();
+        return getSafetyFieldBuilder().getBuilder();
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+       */
+      public cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyStateOrBuilder getSafetyOrBuilder() {
+        if (safetyBuilder_ != null) {
+          return safetyBuilder_.getMessageOrBuilder();
+        } else {
+          return safety_ == null ?
+              cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.getDefaultInstance() : safety_;
+        }
+      }
+      /**
+       * .cmvr.api.armteleop.v1.RobotSafetyState safety = 3;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState, cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyStateOrBuilder> 
+          getSafetyFieldBuilder() {
+        if (safetyBuilder_ == null) {
+          safetyBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState, cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyState.Builder, cmvr.api.armteleop.v1.ArmTeleopV1.RobotSafetyStateOrBuilder>(
+                  getSafety(),
+                  getParentForChildren(),
+                  isClean());
+          safety_ = null;
+        }
+        return safetyBuilder_;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.api.armteleop.v1.ServerFrame)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.armteleop.v1.ServerFrame)
+    private static final cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame();
+    }
+
+    public static cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public ServerFrame parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.armteleop.v1.ArmTeleopV1.ServerFrame getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_armteleop_v1_RobotManifest_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_armteleop_v1_RobotManifest_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_armteleop_v1_OpenSession_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_armteleop_v1_OpenSession_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_armteleop_v1_JointSetpoint_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_armteleop_v1_JointSetpoint_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_armteleop_v1_ClientHeartbeat_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_armteleop_v1_ClientHeartbeat_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_armteleop_v1_StopSession_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_armteleop_v1_StopSession_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_armteleop_v1_ClientFrame_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_armteleop_v1_ClientFrame_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_armteleop_v1_JointState_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_armteleop_v1_JointState_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_armteleop_v1_SessionStatus_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_armteleop_v1_SessionStatus_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_armteleop_v1_RobotSafetyState_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_armteleop_v1_RobotSafetyState_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_armteleop_v1_ServerFrame_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_armteleop_v1_ServerFrame_fieldAccessorTable;
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\034cmvr/api/arm_teleop_v1.proto\022\025cmvr.api" +
+      ".armteleop.v1\"\323\001\n\rRobotManifest\022\020\n\010robot" +
+      "_id\030\001 \001(\t\022\024\n\014model_sha256\030\002 \001(\t\022\032\n\022calib" +
+      "ration_sha256\030\003 \001(\t\022\023\n\013joint_names\030\004 \003(\t" +
+      "\022\025\n\rposition_unit\030\005 \001(\t\022\025\n\rvelocity_unit" +
+      "\030\006 \001(\t\022\023\n\013effort_unit\030\007 \001(\t\022\022\n\nbase_fram" +
+      "e\030\010 \001(\t\022\022\n\ntool_frame\030\t \001(\t\"\264\002\n\013OpenSess" +
+      "ion\022\026\n\016protocol_major\030\001 \001(\r\022\026\n\016protocol_" +
+      "minor\030\002 \001(\r\022\032\n\022client_instance_id\030\003 \001(\t\022" +
+      "<\n\016expected_robot\030\004 \001(\0132$.cmvr.api.armte" +
+      "leop.v1.RobotManifest\022!\n\031requested_comma" +
+      "nd_rate_hz\030\005 \001(\r\022\037\n\027requested_state_rate" +
+      "_hz\030\006 \001(\r\022\033\n\023watchdog_timeout_ms\030\007 \001(\r\022\032" +
+      "\n\022requested_lease_ms\030\010 \001(\r\022\036\n\026request_fo" +
+      "rce_feedback\030\t \001(\010\"e\n\rJointSetpoint\022\020\n\010s" +
+      "equence\030\001 \001(\004\022\024\n\014position_rad\030\002 \003(\001\022\026\n\016v" +
+      "elocity_rad_s\030\003 \003(\001\022\024\n\014valid_for_us\030\004 \001(" +
+      "\r\"#\n\017ClientHeartbeat\022\020\n\010sequence\030\001 \001(\004\"P" +
+      "\n\013StopSession\0221\n\006reason\030\001 \001(\0162!.cmvr.api" +
+      ".armteleop.v1.StopReason\022\016\n\006detail\030\002 \001(\t" +
+      "\"\367\001\n\013ClientFrame\0222\n\004open\030\001 \001(\0132\".cmvr.ap" +
+      "i.armteleop.v1.OpenSessionH\000\0228\n\010setpoint" +
+      "\030\002 \001(\0132$.cmvr.api.armteleop.v1.JointSetp" +
+      "ointH\000\022;\n\theartbeat\030\003 \001(\0132&.cmvr.api.arm" +
+      "teleop.v1.ClientHeartbeatH\000\0222\n\004stop\030\004 \001(" +
+      "\0132\".cmvr.api.armteleop.v1.StopSessionH\000B" +
+      "\t\n\007payload\"\377\001\n\nJointState\022\027\n\017sample_sequ" +
+      "ence\030\001 \001(\004\022\024\n\014position_rad\030\002 \003(\001\022\026\n\016velo" +
+      "city_rad_s\030\003 \003(\001\022\021\n\teffort_nm\030\004 \003(\001\022\026\n\016p" +
+      "osition_valid\030\005 \001(\010\022\026\n\016velocity_valid\030\006 " +
+      "\001(\010\022\024\n\014effort_valid\030\007 \001(\010\022:\n\reffort_sour" +
+      "ce\030\010 \001(\0162#.cmvr.api.armteleop.v1.EffortS" +
+      "ource\022\025\n\rsample_age_us\030\t \001(\004\"\307\002\n\rSession" +
+      "Status\022\022\n\nsession_id\030\001 \001(\t\0222\n\005phase\030\002 \001(" +
+      "\0162#.cmvr.api.armteleop.v1.SessionPhase\022\031" +
+      "\n\021received_sequence\030\003 \001(\004\022\030\n\020applied_seq" +
+      "uence\030\004 \001(\004\022\031\n\021dropped_setpoints\030\005 \001(\004\022\032" +
+      "\n\022rejected_setpoints\030\006 \001(\004\022\036\n\026negotiated" +
+      "_watchdog_ms\030\007 \001(\r\022\032\n\022lease_remaining_ms" +
+      "\030\010 \001(\r\0226\n\013stop_reason\030\t \001(\0162!.cmvr.api.a" +
+      "rmteleop.v1.StopReason\022\016\n\006detail\030\n \001(\t\"\225" +
+      "\001\n\020RobotSafetyState\022\021\n\tconnected\030\001 \001(\010\022\022" +
+      "\n\npowered_on\030\002 \001(\010\022\032\n\022protective_stopped" +
+      "\030\003 \001(\010\022\031\n\021emergency_stopped\030\004 \001(\010\022\r\n\005fau" +
+      "lt\030\005 \001(\010\022\024\n\014fault_detail\030\006 \001(\t\"\264\001\n\013Serve" +
+      "rFrame\0224\n\006status\030\001 \001(\0132$.cmvr.api.armtel" +
+      "eop.v1.SessionStatus\0226\n\013joint_state\030\002 \001(" +
+      "\0132!.cmvr.api.armteleop.v1.JointState\0227\n\006" +
+      "safety\030\003 \001(\0132\'.cmvr.api.armteleop.v1.Rob" +
+      "otSafetyState*\250\002\n\014SessionPhase\022\035\n\031SESSIO" +
+      "N_PHASE_UNSPECIFIED\020\000\022\030\n\024SESSION_PHASE_O" +
+      "PENED\020\001\022\027\n\023SESSION_PHASE_READY\020\002\022\030\n\024SESS" +
+      "ION_PHASE_ACTIVE\020\003\022\031\n\025SESSION_PHASE_HOLD" +
+      "ING\020\004\022\031\n\025SESSION_PHASE_STOPPED\020\005\022\"\n\036SESS" +
+      "ION_PHASE_WATCHDOG_EXPIRED\020\006\022\034\n\030SESSION_" +
+      "PHASE_LEASE_LOST\020\007\022\032\n\026SESSION_PHASE_REJE" +
+      "CTED\020\010\022\030\n\024SESSION_PHASE_FAILED\020\t*\202\002\n\nSto" +
+      "pReason\022\033\n\027STOP_REASON_UNSPECIFIED\020\000\022 \n\034" +
+      "STOP_REASON_OPERATOR_REQUEST\020\001\022\037\n\033STOP_R" +
+      "EASON_CLIENT_SHUTDOWN\020\002\022\030\n\024STOP_REASON_W" +
+      "ATCHDOG\020\003\022\035\n\031STOP_REASON_LEASE_REVOKED\020\004" +
+      "\022\033\n\027STOP_REASON_ROBOT_FAULT\020\005\022\036\n\032STOP_RE" +
+      "ASON_EMERGENCY_STOP\020\006\022\036\n\032STOP_REASON_PRO" +
+      "TOCOL_ERROR\020\007*\262\001\n\014EffortSource\022\035\n\031EFFORT" +
+      "_SOURCE_UNSPECIFIED\020\000\022 \n\034EFFORT_SOURCE_M" +
+      "OTOR_ESTIMATE\020\001\022\036\n\032EFFORT_SOURCE_JOINT_S" +
+      "ENSOR\020\002\022%\n!EFFORT_SOURCE_FORCE_TORQUE_SE" +
+      "NSOR\020\003\022\032\n\026EFFORT_SOURCE_OBSERVER\020\0042m\n\020Ar" +
+      "mTeleopService\022Y\n\013Teleoperate\022\".cmvr.api" +
+      ".armteleop.v1.ClientFrame\032\".cmvr.api.arm" +
+      "teleop.v1.ServerFrame(\0010\001b\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+        });
+    internal_static_cmvr_api_armteleop_v1_RobotManifest_descriptor =
+      getDescriptor().getMessageTypes().get(0);
+    internal_static_cmvr_api_armteleop_v1_RobotManifest_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_armteleop_v1_RobotManifest_descriptor,
+        new java.lang.String[] { "RobotId", "ModelSha256", "CalibrationSha256", "JointNames", "PositionUnit", "VelocityUnit", "EffortUnit", "BaseFrame", "ToolFrame", });
+    internal_static_cmvr_api_armteleop_v1_OpenSession_descriptor =
+      getDescriptor().getMessageTypes().get(1);
+    internal_static_cmvr_api_armteleop_v1_OpenSession_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_armteleop_v1_OpenSession_descriptor,
+        new java.lang.String[] { "ProtocolMajor", "ProtocolMinor", "ClientInstanceId", "ExpectedRobot", "RequestedCommandRateHz", "RequestedStateRateHz", "WatchdogTimeoutMs", "RequestedLeaseMs", "RequestForceFeedback", });
+    internal_static_cmvr_api_armteleop_v1_JointSetpoint_descriptor =
+      getDescriptor().getMessageTypes().get(2);
+    internal_static_cmvr_api_armteleop_v1_JointSetpoint_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_armteleop_v1_JointSetpoint_descriptor,
+        new java.lang.String[] { "Sequence", "PositionRad", "VelocityRadS", "ValidForUs", });
+    internal_static_cmvr_api_armteleop_v1_ClientHeartbeat_descriptor =
+      getDescriptor().getMessageTypes().get(3);
+    internal_static_cmvr_api_armteleop_v1_ClientHeartbeat_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_armteleop_v1_ClientHeartbeat_descriptor,
+        new java.lang.String[] { "Sequence", });
+    internal_static_cmvr_api_armteleop_v1_StopSession_descriptor =
+      getDescriptor().getMessageTypes().get(4);
+    internal_static_cmvr_api_armteleop_v1_StopSession_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_armteleop_v1_StopSession_descriptor,
+        new java.lang.String[] { "Reason", "Detail", });
+    internal_static_cmvr_api_armteleop_v1_ClientFrame_descriptor =
+      getDescriptor().getMessageTypes().get(5);
+    internal_static_cmvr_api_armteleop_v1_ClientFrame_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_armteleop_v1_ClientFrame_descriptor,
+        new java.lang.String[] { "Open", "Setpoint", "Heartbeat", "Stop", "Payload", });
+    internal_static_cmvr_api_armteleop_v1_JointState_descriptor =
+      getDescriptor().getMessageTypes().get(6);
+    internal_static_cmvr_api_armteleop_v1_JointState_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_armteleop_v1_JointState_descriptor,
+        new java.lang.String[] { "SampleSequence", "PositionRad", "VelocityRadS", "EffortNm", "PositionValid", "VelocityValid", "EffortValid", "EffortSource", "SampleAgeUs", });
+    internal_static_cmvr_api_armteleop_v1_SessionStatus_descriptor =
+      getDescriptor().getMessageTypes().get(7);
+    internal_static_cmvr_api_armteleop_v1_SessionStatus_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_armteleop_v1_SessionStatus_descriptor,
+        new java.lang.String[] { "SessionId", "Phase", "ReceivedSequence", "AppliedSequence", "DroppedSetpoints", "RejectedSetpoints", "NegotiatedWatchdogMs", "LeaseRemainingMs", "StopReason", "Detail", });
+    internal_static_cmvr_api_armteleop_v1_RobotSafetyState_descriptor =
+      getDescriptor().getMessageTypes().get(8);
+    internal_static_cmvr_api_armteleop_v1_RobotSafetyState_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_armteleop_v1_RobotSafetyState_descriptor,
+        new java.lang.String[] { "Connected", "PoweredOn", "ProtectiveStopped", "EmergencyStopped", "Fault", "FaultDetail", });
+    internal_static_cmvr_api_armteleop_v1_ServerFrame_descriptor =
+      getDescriptor().getMessageTypes().get(9);
+    internal_static_cmvr_api_armteleop_v1_ServerFrame_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_armteleop_v1_ServerFrame_descriptor,
+        new java.lang.String[] { "Status", "JointState", "Safety", });
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Agv.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/AgvUtils.java
similarity index 86%
rename from cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Agv.java
rename to cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/AgvUtils.java
index d65bb2c..2a49bd2 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Agv.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/AgvUtils.java
@@ -1,10 +1,10 @@
 // Generated by the protocol buffer compiler.  DO NOT EDIT!
-// source: cmvr/msgs/agv.proto
+// source: cmvr/api/agv_utils.proto
 
 package cmvr.msgs;
 
-public final class Agv {
-  private Agv() {}
+public final class AgvUtils {
+  private AgvUtils() {}
   public static void registerAllExtensions(
       com.google.protobuf.ExtensionRegistryLite registry) {
   }
@@ -151,7 +151,7 @@ public final class Agv {
     }
     public static final com.google.protobuf.Descriptors.EnumDescriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.getDescriptor().getEnumTypes().get(0);
+      return cmvr.msgs.AgvUtils.getDescriptor().getEnumTypes().get(0);
     }
 
     private static final AgvMapDimension[] VALUES = values();
@@ -313,7 +313,7 @@ public final class Agv {
     }
     public static final com.google.protobuf.Descriptors.EnumDescriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.getDescriptor().getEnumTypes().get(1);
+      return cmvr.msgs.AgvUtils.getDescriptor().getEnumTypes().get(1);
     }
 
     private static final AgvMapUpdateType[] VALUES = values();
@@ -543,7 +543,7 @@ public final class Agv {
     }
     public static final com.google.protobuf.Descriptors.EnumDescriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.getDescriptor().getEnumTypes().get(2);
+      return cmvr.msgs.AgvUtils.getDescriptor().getEnumTypes().get(2);
     }
 
     private static final AgvMapObjectType[] VALUES = values();
@@ -636,15 +636,15 @@ public final class Agv {
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvPose2d_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvPose2d_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvPose2d_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvPose2d_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvPose2d.class, cmvr.msgs.Agv.AgvPose2d.Builder.class);
+              cmvr.msgs.AgvUtils.AgvPose2d.class, cmvr.msgs.AgvUtils.AgvPose2d.Builder.class);
     }
 
     public static final int X_FIELD_NUMBER = 1;
@@ -746,10 +746,10 @@ public final class Agv {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvPose2d)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvPose2d)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvPose2d other = (cmvr.msgs.Agv.AgvPose2d) obj;
+      cmvr.msgs.AgvUtils.AgvPose2d other = (cmvr.msgs.AgvUtils.AgvPose2d) obj;
 
       if (java.lang.Double.doubleToLongBits(getX())
           != java.lang.Double.doubleToLongBits(
@@ -785,69 +785,69 @@ public final class Agv {
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvPose2d parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPose2d parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvPose2d parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPose2d parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvPose2d parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPose2d parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvPose2d parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPose2d parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvPose2d parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvPose2d parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvPose2d parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPose2d parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvPose2d parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvPose2d parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvPose2d parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPose2d parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvPose2d parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvPose2d parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvPose2d parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvPose2d parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvPose2d parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPose2d parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvPose2d parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPose2d parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -860,7 +860,7 @@ public final class Agv {
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvPose2d prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvPose2d prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -885,21 +885,21 @@ public final class Agv {
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvPose2d)
-        cmvr.msgs.Agv.AgvPose2dOrBuilder {
+        cmvr.msgs.AgvUtils.AgvPose2dOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvPose2d_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvPose2d_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvPose2d_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvPose2d_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvPose2d.class, cmvr.msgs.Agv.AgvPose2d.Builder.class);
+                cmvr.msgs.AgvUtils.AgvPose2d.class, cmvr.msgs.AgvUtils.AgvPose2d.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvPose2d.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvPose2d.newBuilder()
       private Builder() {
 
       }
@@ -924,17 +924,17 @@ public final class Agv {
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvPose2d_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvPose2d_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvPose2d getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvPose2d.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvPose2d getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvPose2d build() {
-        cmvr.msgs.Agv.AgvPose2d result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvPose2d build() {
+        cmvr.msgs.AgvUtils.AgvPose2d result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -942,8 +942,8 @@ public final class Agv {
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvPose2d buildPartial() {
-        cmvr.msgs.Agv.AgvPose2d result = new cmvr.msgs.Agv.AgvPose2d(this);
+      public cmvr.msgs.AgvUtils.AgvPose2d buildPartial() {
+        cmvr.msgs.AgvUtils.AgvPose2d result = new cmvr.msgs.AgvUtils.AgvPose2d(this);
         result.x_ = x_;
         result.y_ = y_;
         result.theta_ = theta_;
@@ -985,16 +985,16 @@ public final class Agv {
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvPose2d) {
-          return mergeFrom((cmvr.msgs.Agv.AgvPose2d)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvPose2d) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvPose2d)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvPose2d other) {
-        if (other == cmvr.msgs.Agv.AgvPose2d.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvPose2d other) {
+        if (other == cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance()) return this;
         if (other.getX() != 0D) {
           setX(other.getX());
         }
@@ -1206,12 +1206,12 @@ public final class Agv {
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvPose2d)
-    private static final cmvr.msgs.Agv.AgvPose2d DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvPose2d DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvPose2d();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvPose2d();
     }
 
-    public static cmvr.msgs.Agv.AgvPose2d getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvPose2d getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -1247,7 +1247,7 @@ public final class Agv {
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvPose2d getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvPose2d getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -1320,15 +1320,15 @@ public final class Agv {
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvVelocity_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvVelocity_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvVelocity_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvVelocity_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvVelocity.class, cmvr.msgs.Agv.AgvVelocity.Builder.class);
+              cmvr.msgs.AgvUtils.AgvVelocity.class, cmvr.msgs.AgvUtils.AgvVelocity.Builder.class);
     }
 
     public static final int VX_FIELD_NUMBER = 1;
@@ -1430,10 +1430,10 @@ public final class Agv {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvVelocity)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvVelocity)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvVelocity other = (cmvr.msgs.Agv.AgvVelocity) obj;
+      cmvr.msgs.AgvUtils.AgvVelocity other = (cmvr.msgs.AgvUtils.AgvVelocity) obj;
 
       if (java.lang.Double.doubleToLongBits(getVx())
           != java.lang.Double.doubleToLongBits(
@@ -1469,69 +1469,69 @@ public final class Agv {
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvVelocity parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvVelocity parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvVelocity parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvVelocity parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvVelocity parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvVelocity parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvVelocity parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvVelocity parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvVelocity parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvVelocity parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvVelocity parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvVelocity parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvVelocity parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvVelocity parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvVelocity parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvVelocity parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvVelocity parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvVelocity parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvVelocity parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvVelocity parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvVelocity parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvVelocity parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvVelocity parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvVelocity parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -1544,7 +1544,7 @@ public final class Agv {
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvVelocity prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvVelocity prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -1569,21 +1569,21 @@ public final class Agv {
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvVelocity)
-        cmvr.msgs.Agv.AgvVelocityOrBuilder {
+        cmvr.msgs.AgvUtils.AgvVelocityOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvVelocity_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvVelocity_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvVelocity_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvVelocity_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvVelocity.class, cmvr.msgs.Agv.AgvVelocity.Builder.class);
+                cmvr.msgs.AgvUtils.AgvVelocity.class, cmvr.msgs.AgvUtils.AgvVelocity.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvVelocity.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvVelocity.newBuilder()
       private Builder() {
 
       }
@@ -1608,17 +1608,17 @@ public final class Agv {
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvVelocity_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvVelocity_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvVelocity getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvVelocity.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvVelocity getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvVelocity.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvVelocity build() {
-        cmvr.msgs.Agv.AgvVelocity result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvVelocity build() {
+        cmvr.msgs.AgvUtils.AgvVelocity result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -1626,8 +1626,8 @@ public final class Agv {
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvVelocity buildPartial() {
-        cmvr.msgs.Agv.AgvVelocity result = new cmvr.msgs.Agv.AgvVelocity(this);
+      public cmvr.msgs.AgvUtils.AgvVelocity buildPartial() {
+        cmvr.msgs.AgvUtils.AgvVelocity result = new cmvr.msgs.AgvUtils.AgvVelocity(this);
         result.vx_ = vx_;
         result.vy_ = vy_;
         result.wz_ = wz_;
@@ -1669,16 +1669,16 @@ public final class Agv {
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvVelocity) {
-          return mergeFrom((cmvr.msgs.Agv.AgvVelocity)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvVelocity) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvVelocity)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvVelocity other) {
-        if (other == cmvr.msgs.Agv.AgvVelocity.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvVelocity other) {
+        if (other == cmvr.msgs.AgvUtils.AgvVelocity.getDefaultInstance()) return this;
         if (other.getVx() != 0D) {
           setVx(other.getVx());
         }
@@ -1890,12 +1890,12 @@ public final class Agv {
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvVelocity)
-    private static final cmvr.msgs.Agv.AgvVelocity DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvVelocity DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvVelocity();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvVelocity();
     }
 
-    public static cmvr.msgs.Agv.AgvVelocity getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvVelocity getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -1931,7 +1931,7 @@ public final class Agv {
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvVelocity getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvVelocity getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -2024,15 +2024,15 @@ public final class Agv {
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvBatteryState_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvBatteryState_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvBatteryState_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvBatteryState_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvBatteryState.class, cmvr.msgs.Agv.AgvBatteryState.Builder.class);
+              cmvr.msgs.AgvUtils.AgvBatteryState.class, cmvr.msgs.AgvUtils.AgvBatteryState.Builder.class);
     }
 
     public static final int PERCENTAGE_FIELD_NUMBER = 1;
@@ -2178,10 +2178,10 @@ public final class Agv {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvBatteryState)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvBatteryState)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvBatteryState other = (cmvr.msgs.Agv.AgvBatteryState) obj;
+      cmvr.msgs.AgvUtils.AgvBatteryState other = (cmvr.msgs.AgvUtils.AgvBatteryState) obj;
 
       if (java.lang.Double.doubleToLongBits(getPercentage())
           != java.lang.Double.doubleToLongBits(
@@ -2228,69 +2228,69 @@ public final class Agv {
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvBatteryState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvBatteryState parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvBatteryState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvBatteryState parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvBatteryState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvBatteryState parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvBatteryState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvBatteryState parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvBatteryState parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvBatteryState parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvBatteryState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvBatteryState parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvBatteryState parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvBatteryState parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvBatteryState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvBatteryState parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvBatteryState parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvBatteryState parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvBatteryState parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvBatteryState parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvBatteryState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvBatteryState parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvBatteryState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvBatteryState parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -2303,7 +2303,7 @@ public final class Agv {
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvBatteryState prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvBatteryState prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -2328,21 +2328,21 @@ public final class Agv {
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvBatteryState)
-        cmvr.msgs.Agv.AgvBatteryStateOrBuilder {
+        cmvr.msgs.AgvUtils.AgvBatteryStateOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvBatteryState_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvBatteryState_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvBatteryState_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvBatteryState_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvBatteryState.class, cmvr.msgs.Agv.AgvBatteryState.Builder.class);
+                cmvr.msgs.AgvUtils.AgvBatteryState.class, cmvr.msgs.AgvUtils.AgvBatteryState.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvBatteryState.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvBatteryState.newBuilder()
       private Builder() {
 
       }
@@ -2371,17 +2371,17 @@ public final class Agv {
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvBatteryState_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvBatteryState_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvBatteryState getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvBatteryState.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvBatteryState getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvBatteryState.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvBatteryState build() {
-        cmvr.msgs.Agv.AgvBatteryState result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvBatteryState build() {
+        cmvr.msgs.AgvUtils.AgvBatteryState result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -2389,8 +2389,8 @@ public final class Agv {
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvBatteryState buildPartial() {
-        cmvr.msgs.Agv.AgvBatteryState result = new cmvr.msgs.Agv.AgvBatteryState(this);
+      public cmvr.msgs.AgvUtils.AgvBatteryState buildPartial() {
+        cmvr.msgs.AgvUtils.AgvBatteryState result = new cmvr.msgs.AgvUtils.AgvBatteryState(this);
         result.percentage_ = percentage_;
         result.voltage_ = voltage_;
         result.current_ = current_;
@@ -2434,16 +2434,16 @@ public final class Agv {
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvBatteryState) {
-          return mergeFrom((cmvr.msgs.Agv.AgvBatteryState)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvBatteryState) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvBatteryState)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvBatteryState other) {
-        if (other == cmvr.msgs.Agv.AgvBatteryState.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvBatteryState other) {
+        if (other == cmvr.msgs.AgvUtils.AgvBatteryState.getDefaultInstance()) return this;
         if (other.getPercentage() != 0D) {
           setPercentage(other.getPercentage());
         }
@@ -2757,12 +2757,12 @@ public final class Agv {
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvBatteryState)
-    private static final cmvr.msgs.Agv.AgvBatteryState DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvBatteryState DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvBatteryState();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvBatteryState();
     }
 
-    public static cmvr.msgs.Agv.AgvBatteryState getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvBatteryState getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -2798,7 +2798,7 @@ public final class Agv {
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvBatteryState getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvBatteryState getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -2880,13 +2880,35 @@ public final class Agv {
 
     /**
      * 
-     * 是否异步执行；true 表示下发任务后立即返回。
+     * 是否异步执行；false（默认）表示到达、失败、取消或遇障停止后才返回，
+     * true 表示任务被控制器接受后立即返回。
      * 

      *
      * bool asynchronous = 8;
      * @return The asynchronous.
      */
     boolean getAsynchronous();
+
+    /**
+     * 
+     * 同步导航的最大等待时间，单位：毫秒；0 表示使用适配器默认值。
+     * gRPC deadline 应大于该值或预计行程时间，否则服务端会安全取消导航。
+     * 

+     *
+     * int32 wait_timeout_ms = 9;
+     * @return The waitTimeoutMs.
+     */
+    int getWaitTimeoutMs();
+
+    /**
+     * 
+     * 同步导航的状态轮询周期，单位：毫秒；0 表示使用适配器默认值。
+     * 

+     *
+     * int32 poll_interval_ms = 10;
+     * @return The pollIntervalMs.
+     */
+    int getPollIntervalMs();
   }
   /**
    * 
@@ -2921,15 +2943,15 @@ public final class Agv {
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMotionOptions_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMotionOptions_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMotionOptions_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMotionOptions_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvMotionOptions.class, cmvr.msgs.Agv.AgvMotionOptions.Builder.class);
+              cmvr.msgs.AgvUtils.AgvMotionOptions.class, cmvr.msgs.AgvUtils.AgvMotionOptions.Builder.class);
     }
 
     public static final int MAX_SPEED_FIELD_NUMBER = 1;
@@ -3041,7 +3063,8 @@ public final class Agv {
     private boolean asynchronous_;
     /**
      * 
-     * 是否异步执行；true 表示下发任务后立即返回。
+     * 是否异步执行；false（默认）表示到达、失败、取消或遇障停止后才返回，
+     * true 表示任务被控制器接受后立即返回。
      * 

      *
      * bool asynchronous = 8;
@@ -3052,6 +3075,37 @@ public final class Agv {
       return asynchronous_;
     }
 
+    public static final int WAIT_TIMEOUT_MS_FIELD_NUMBER = 9;
+    private int waitTimeoutMs_;
+    /**
+     * 
+     * 同步导航的最大等待时间，单位：毫秒；0 表示使用适配器默认值。
+     * gRPC deadline 应大于该值或预计行程时间，否则服务端会安全取消导航。
+     * 

+     *
+     * int32 wait_timeout_ms = 9;
+     * @return The waitTimeoutMs.
+     */
+    @java.lang.Override
+    public int getWaitTimeoutMs() {
+      return waitTimeoutMs_;
+    }
+
+    public static final int POLL_INTERVAL_MS_FIELD_NUMBER = 10;
+    private int pollIntervalMs_;
+    /**
+     * 
+     * 同步导航的状态轮询周期，单位：毫秒；0 表示使用适配器默认值。
+     * 

+     *
+     * int32 poll_interval_ms = 10;
+     * @return The pollIntervalMs.
+     */
+    @java.lang.Override
+    public int getPollIntervalMs() {
+      return pollIntervalMs_;
+    }
+
     private byte memoizedIsInitialized = -1;
     @java.lang.Override
     public final boolean isInitialized() {
@@ -3090,6 +3144,12 @@ public final class Agv {
       if (asynchronous_ != false) {
         output.writeBool(8, asynchronous_);
       }
+      if (waitTimeoutMs_ != 0) {
+        output.writeInt32(9, waitTimeoutMs_);
+      }
+      if (pollIntervalMs_ != 0) {
+        output.writeInt32(10, pollIntervalMs_);
+      }
       getUnknownFields().writeTo(output);
     }
 
@@ -3131,6 +3191,14 @@ public final class Agv {
         size += com.google.protobuf.CodedOutputStream
           .computeBoolSize(8, asynchronous_);
       }
+      if (waitTimeoutMs_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(9, waitTimeoutMs_);
+      }
+      if (pollIntervalMs_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(10, pollIntervalMs_);
+      }
       size += getUnknownFields().getSerializedSize();
       memoizedSize = size;
       return size;
@@ -3141,10 +3209,10 @@ public final class Agv {
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvMotionOptions)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvMotionOptions)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvMotionOptions other = (cmvr.msgs.Agv.AgvMotionOptions) obj;
+      cmvr.msgs.AgvUtils.AgvMotionOptions other = (cmvr.msgs.AgvUtils.AgvMotionOptions) obj;
 
       if (java.lang.Double.doubleToLongBits(getMaxSpeed())
           != java.lang.Double.doubleToLongBits(
@@ -3169,6 +3237,10 @@ public final class Agv {
               other.getSpeedRatio())) return false;
       if (getAsynchronous()
           != other.getAsynchronous()) return false;
+      if (getWaitTimeoutMs()
+          != other.getWaitTimeoutMs()) return false;
+      if (getPollIntervalMs()
+          != other.getPollIntervalMs()) return false;
       if (!getUnknownFields().equals(other.getUnknownFields())) return false;
       return true;
     }
@@ -3204,74 +3276,78 @@ public final class Agv {
       hash = (37 * hash) + ASYNCHRONOUS_FIELD_NUMBER;
       hash = (53 * hash) + com.google.protobuf.Internal.hashBoolean(
           getAsynchronous());
+      hash = (37 * hash) + WAIT_TIMEOUT_MS_FIELD_NUMBER;
+      hash = (53 * hash) + getWaitTimeoutMs();
+      hash = (37 * hash) + POLL_INTERVAL_MS_FIELD_NUMBER;
+      hash = (53 * hash) + getPollIntervalMs();
       hash = (29 * hash) + getUnknownFields().hashCode();
       memoizedHashCode = hash;
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvMotionOptions parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMotionOptions parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMotionOptions parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMotionOptions parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMotionOptions parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMotionOptions parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMotionOptions parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMotionOptions parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMotionOptions parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMotionOptions parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMotionOptions parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMotionOptions parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -3284,7 +3360,7 @@ public final class Agv {
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvMotionOptions prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvMotionOptions prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -3309,21 +3385,21 @@ public final class Agv {
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvMotionOptions)
-        cmvr.msgs.Agv.AgvMotionOptionsOrBuilder {
+        cmvr.msgs.AgvUtils.AgvMotionOptionsOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMotionOptions_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMotionOptions_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMotionOptions_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMotionOptions_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvMotionOptions.class, cmvr.msgs.Agv.AgvMotionOptions.Builder.class);
+                cmvr.msgs.AgvUtils.AgvMotionOptions.class, cmvr.msgs.AgvUtils.AgvMotionOptions.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvMotionOptions.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvMotionOptions.newBuilder()
       private Builder() {
 
       }
@@ -3352,23 +3428,27 @@ public final class Agv {
 
         asynchronous_ = false;
 
+        waitTimeoutMs_ = 0;
+
+        pollIntervalMs_ = 0;
+
         return this;
       }
 
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMotionOptions_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMotionOptions_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMotionOptions getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvMotionOptions.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvMotionOptions getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvMotionOptions.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMotionOptions build() {
-        cmvr.msgs.Agv.AgvMotionOptions result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvMotionOptions build() {
+        cmvr.msgs.AgvUtils.AgvMotionOptions result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -3376,8 +3456,8 @@ public final class Agv {
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMotionOptions buildPartial() {
-        cmvr.msgs.Agv.AgvMotionOptions result = new cmvr.msgs.Agv.AgvMotionOptions(this);
+      public cmvr.msgs.AgvUtils.AgvMotionOptions buildPartial() {
+        cmvr.msgs.AgvUtils.AgvMotionOptions result = new cmvr.msgs.AgvUtils.AgvMotionOptions(this);
         result.maxSpeed_ = maxSpeed_;
         result.maxAngularSpeed_ = maxAngularSpeed_;
         result.maxAcceleration_ = maxAcceleration_;
@@ -3386,6 +3466,8 @@ public final class Agv {
         result.reachAngle_ = reachAngle_;
         result.speedRatio_ = speedRatio_;
         result.asynchronous_ = asynchronous_;
+        result.waitTimeoutMs_ = waitTimeoutMs_;
+        result.pollIntervalMs_ = pollIntervalMs_;
         onBuilt();
         return result;
       }
@@ -3424,16 +3506,16 @@ public final class Agv {
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvMotionOptions) {
-          return mergeFrom((cmvr.msgs.Agv.AgvMotionOptions)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvMotionOptions) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvMotionOptions)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvMotionOptions other) {
-        if (other == cmvr.msgs.Agv.AgvMotionOptions.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvMotionOptions other) {
+        if (other == cmvr.msgs.AgvUtils.AgvMotionOptions.getDefaultInstance()) return this;
         if (other.getMaxSpeed() != 0D) {
           setMaxSpeed(other.getMaxSpeed());
         }
@@ -3458,6 +3540,12 @@ public final class Agv {
         if (other.getAsynchronous() != false) {
           setAsynchronous(other.getAsynchronous());
         }
+        if (other.getWaitTimeoutMs() != 0) {
+          setWaitTimeoutMs(other.getWaitTimeoutMs());
+        }
+        if (other.getPollIntervalMs() != 0) {
+          setPollIntervalMs(other.getPollIntervalMs());
+        }
         this.mergeUnknownFields(other.getUnknownFields());
         onChanged();
         return this;
@@ -3524,6 +3612,16 @@ public final class Agv {
 
                 break;
               } // case 64
+              case 72: {
+                waitTimeoutMs_ = input.readInt32();
+
+                break;
+              } // case 72
+              case 80: {
+                pollIntervalMs_ = input.readInt32();
+
+                break;
+              } // case 80
               default: {
                 if (!super.parseUnknownField(input, extensionRegistry, tag)) {
                   done = true; // was an endgroup tag
@@ -3844,7 +3942,8 @@ public final class Agv {
       private boolean asynchronous_ ;
       /**
        * 
-       * 是否异步执行；true 表示下发任务后立即返回。
+       * 是否异步执行；false（默认）表示到达、失败、取消或遇障停止后才返回，
+       * true 表示任务被控制器接受后立即返回。
        * 

        *
        * bool asynchronous = 8;
@@ -3856,7 +3955,8 @@ public final class Agv {
       }
       /**
        * 
-       * 是否异步执行；true 表示下发任务后立即返回。
+       * 是否异步执行；false（默认）表示到达、失败、取消或遇障停止后才返回，
+       * true 表示任务被控制器接受后立即返回。
        * 

        *
        * bool asynchronous = 8;
@@ -3871,7 +3971,8 @@ public final class Agv {
       }
       /**
        * 
-       * 是否异步执行；true 表示下发任务后立即返回。
+       * 是否异步执行；false（默认）表示到达、失败、取消或遇障停止后才返回，
+       * true 表示任务被控制器接受后立即返回。
        * 

        *
        * bool asynchronous = 8;
@@ -3883,6 +3984,95 @@ public final class Agv {
         onChanged();
         return this;
       }
+
+      private int waitTimeoutMs_ ;
+      /**
+       * 
+       * 同步导航的最大等待时间，单位：毫秒；0 表示使用适配器默认值。
+       * gRPC deadline 应大于该值或预计行程时间，否则服务端会安全取消导航。
+       * 

+       *
+       * int32 wait_timeout_ms = 9;
+       * @return The waitTimeoutMs.
+       */
+      @java.lang.Override
+      public int getWaitTimeoutMs() {
+        return waitTimeoutMs_;
+      }
+      /**
+       * 
+       * 同步导航的最大等待时间，单位：毫秒；0 表示使用适配器默认值。
+       * gRPC deadline 应大于该值或预计行程时间，否则服务端会安全取消导航。
+       * 

+       *
+       * int32 wait_timeout_ms = 9;
+       * @param value The waitTimeoutMs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setWaitTimeoutMs(int value) {
+        
+        waitTimeoutMs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 同步导航的最大等待时间，单位：毫秒；0 表示使用适配器默认值。
+       * gRPC deadline 应大于该值或预计行程时间，否则服务端会安全取消导航。
+       * 

+       *
+       * int32 wait_timeout_ms = 9;
+       * @return This builder for chaining.
+       */
+      public Builder clearWaitTimeoutMs() {
+        
+        waitTimeoutMs_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int pollIntervalMs_ ;
+      /**
+       * 
+       * 同步导航的状态轮询周期，单位：毫秒；0 表示使用适配器默认值。
+       * 

+       *
+       * int32 poll_interval_ms = 10;
+       * @return The pollIntervalMs.
+       */
+      @java.lang.Override
+      public int getPollIntervalMs() {
+        return pollIntervalMs_;
+      }
+      /**
+       * 
+       * 同步导航的状态轮询周期，单位：毫秒；0 表示使用适配器默认值。
+       * 

+       *
+       * int32 poll_interval_ms = 10;
+       * @param value The pollIntervalMs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPollIntervalMs(int value) {
+        
+        pollIntervalMs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 同步导航的状态轮询周期，单位：毫秒；0 表示使用适配器默认值。
+       * 

+       *
+       * int32 poll_interval_ms = 10;
+       * @return This builder for chaining.
+       */
+      public Builder clearPollIntervalMs() {
+        
+        pollIntervalMs_ = 0;
+        onChanged();
+        return this;
+      }
       @java.lang.Override
       public final Builder setUnknownFields(
           final com.google.protobuf.UnknownFieldSet unknownFields) {
@@ -3900,12 +4090,12 @@ public final class Agv {
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvMotionOptions)
-    private static final cmvr.msgs.Agv.AgvMotionOptions DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvMotionOptions DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvMotionOptions();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvMotionOptions();
     }
 
-    public static cmvr.msgs.Agv.AgvMotionOptions getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvMotionOptions getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -3941,7 +4131,7 @@ public final class Agv {
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMotionOptions getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvMotionOptions getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -4040,7 +4230,7 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvAdapterParams_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvAdapterParams_descriptor;
     }
 
     @SuppressWarnings({"rawtypes"})
@@ -4058,9 +4248,9 @@ java.lang.String defaultValue);
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvAdapterParams_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvAdapterParams_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvAdapterParams.class, cmvr.msgs.Agv.AgvAdapterParams.Builder.class);
+              cmvr.msgs.AgvUtils.AgvAdapterParams.class, cmvr.msgs.AgvUtils.AgvAdapterParams.Builder.class);
     }
 
     public static final int VALUES_FIELD_NUMBER = 1;
@@ -4069,7 +4259,7 @@ java.lang.String defaultValue);
           java.lang.String, java.lang.String> defaultEntry =
               com.google.protobuf.MapEntry
               .newDefaultInstance(
-                  cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvAdapterParams_ValuesEntry_descriptor, 
+                  cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvAdapterParams_ValuesEntry_descriptor, 
                   com.google.protobuf.WireFormat.FieldType.STRING,
                   "",
                   com.google.protobuf.WireFormat.FieldType.STRING,
@@ -4209,10 +4399,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvAdapterParams)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvAdapterParams)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvAdapterParams other = (cmvr.msgs.Agv.AgvAdapterParams) obj;
+      cmvr.msgs.AgvUtils.AgvAdapterParams other = (cmvr.msgs.AgvUtils.AgvAdapterParams) obj;
 
       if (!internalGetValues().equals(
           other.internalGetValues())) return false;
@@ -4236,69 +4426,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvAdapterParams parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvAdapterParams parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvAdapterParams parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvAdapterParams parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvAdapterParams parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvAdapterParams parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvAdapterParams parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvAdapterParams parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvAdapterParams parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvAdapterParams parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvAdapterParams parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvAdapterParams parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -4311,7 +4501,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvAdapterParams prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvAdapterParams prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -4336,10 +4526,10 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvAdapterParams)
-        cmvr.msgs.Agv.AgvAdapterParamsOrBuilder {
+        cmvr.msgs.AgvUtils.AgvAdapterParamsOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvAdapterParams_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvAdapterParams_descriptor;
       }
 
       @SuppressWarnings({"rawtypes"})
@@ -4367,12 +4557,12 @@ java.lang.String defaultValue);
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvAdapterParams_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvAdapterParams_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvAdapterParams.class, cmvr.msgs.Agv.AgvAdapterParams.Builder.class);
+                cmvr.msgs.AgvUtils.AgvAdapterParams.class, cmvr.msgs.AgvUtils.AgvAdapterParams.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvAdapterParams.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvAdapterParams.newBuilder()
       private Builder() {
 
       }
@@ -4392,17 +4582,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvAdapterParams_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvAdapterParams_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvAdapterParams getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvAdapterParams.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvAdapterParams getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvAdapterParams.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvAdapterParams build() {
-        cmvr.msgs.Agv.AgvAdapterParams result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvAdapterParams build() {
+        cmvr.msgs.AgvUtils.AgvAdapterParams result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -4410,8 +4600,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvAdapterParams buildPartial() {
-        cmvr.msgs.Agv.AgvAdapterParams result = new cmvr.msgs.Agv.AgvAdapterParams(this);
+      public cmvr.msgs.AgvUtils.AgvAdapterParams buildPartial() {
+        cmvr.msgs.AgvUtils.AgvAdapterParams result = new cmvr.msgs.AgvUtils.AgvAdapterParams(this);
         int from_bitField0_ = bitField0_;
         result.values_ = internalGetValues();
         result.values_.makeImmutable();
@@ -4453,16 +4643,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvAdapterParams) {
-          return mergeFrom((cmvr.msgs.Agv.AgvAdapterParams)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvAdapterParams) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvAdapterParams)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvAdapterParams other) {
-        if (other == cmvr.msgs.Agv.AgvAdapterParams.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvAdapterParams other) {
+        if (other == cmvr.msgs.AgvUtils.AgvAdapterParams.getDefaultInstance()) return this;
         internalGetMutableValues().mergeFrom(
             other.internalGetValues());
         this.mergeUnknownFields(other.getUnknownFields());
@@ -4691,12 +4881,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvAdapterParams)
-    private static final cmvr.msgs.Agv.AgvAdapterParams DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvAdapterParams DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvAdapterParams();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvAdapterParams();
     }
 
-    public static cmvr.msgs.Agv.AgvAdapterParams getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvAdapterParams getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -4732,7 +4922,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvAdapterParams getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvAdapterParams getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -4829,7 +5019,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvPose2d pose = 8;
      * @return The pose.
      */
-    cmvr.msgs.Agv.AgvPose2d getPose();
+    cmvr.msgs.AgvUtils.AgvPose2d getPose();
     /**
      * 
      * 当前地图坐标系下的二维位姿。
@@ -4837,7 +5027,7 @@ java.lang.String defaultValue);
      *
      * .cmvr.msgs.AgvPose2d pose = 8;
      */
-    cmvr.msgs.Agv.AgvPose2dOrBuilder getPoseOrBuilder();
+    cmvr.msgs.AgvUtils.AgvPose2dOrBuilder getPoseOrBuilder();
 
     /**
      * 
@@ -4856,7 +5046,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvVelocity velocity = 9;
      * @return The velocity.
      */
-    cmvr.msgs.Agv.AgvVelocity getVelocity();
+    cmvr.msgs.AgvUtils.AgvVelocity getVelocity();
     /**
      * 
      * 当前车体速度。
@@ -4864,7 +5054,7 @@ java.lang.String defaultValue);
      *
      * .cmvr.msgs.AgvVelocity velocity = 9;
      */
-    cmvr.msgs.Agv.AgvVelocityOrBuilder getVelocityOrBuilder();
+    cmvr.msgs.AgvUtils.AgvVelocityOrBuilder getVelocityOrBuilder();
 
     /**
      * 
@@ -4883,7 +5073,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvBatteryState battery = 10;
      * @return The battery.
      */
-    cmvr.msgs.Agv.AgvBatteryState getBattery();
+    cmvr.msgs.AgvUtils.AgvBatteryState getBattery();
     /**
      * 
      * 当前电池状态。
@@ -4891,7 +5081,7 @@ java.lang.String defaultValue);
      *
      * .cmvr.msgs.AgvBatteryState battery = 10;
      */
-    cmvr.msgs.Agv.AgvBatteryStateOrBuilder getBatteryOrBuilder();
+    cmvr.msgs.AgvUtils.AgvBatteryStateOrBuilder getBatteryOrBuilder();
 
     /**
      * 
@@ -4989,15 +5179,15 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvRuntimeState_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvRuntimeState_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvRuntimeState_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvRuntimeState_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvRuntimeState.class, cmvr.msgs.Agv.AgvRuntimeState.Builder.class);
+              cmvr.msgs.AgvUtils.AgvRuntimeState.class, cmvr.msgs.AgvUtils.AgvRuntimeState.Builder.class);
     }
 
     public static final int TIMESTAMP_FIELD_NUMBER = 1;
@@ -5106,7 +5296,7 @@ java.lang.String defaultValue);
     }
 
     public static final int POSE_FIELD_NUMBER = 8;
-    private cmvr.msgs.Agv.AgvPose2d pose_;
+    private cmvr.msgs.AgvUtils.AgvPose2d pose_;
     /**
      * 
      * 当前地图坐标系下的二维位姿。
@@ -5128,8 +5318,8 @@ java.lang.String defaultValue);
      * @return The pose.
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvPose2d getPose() {
-      return pose_ == null ? cmvr.msgs.Agv.AgvPose2d.getDefaultInstance() : pose_;
+    public cmvr.msgs.AgvUtils.AgvPose2d getPose() {
+      return pose_ == null ? cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance() : pose_;
     }
     /**
      * 
@@ -5139,12 +5329,12 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvPose2d pose = 8;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvPose2dOrBuilder getPoseOrBuilder() {
+    public cmvr.msgs.AgvUtils.AgvPose2dOrBuilder getPoseOrBuilder() {
       return getPose();
     }
 
     public static final int VELOCITY_FIELD_NUMBER = 9;
-    private cmvr.msgs.Agv.AgvVelocity velocity_;
+    private cmvr.msgs.AgvUtils.AgvVelocity velocity_;
     /**
      * 
      * 当前车体速度。
@@ -5166,8 +5356,8 @@ java.lang.String defaultValue);
      * @return The velocity.
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvVelocity getVelocity() {
-      return velocity_ == null ? cmvr.msgs.Agv.AgvVelocity.getDefaultInstance() : velocity_;
+    public cmvr.msgs.AgvUtils.AgvVelocity getVelocity() {
+      return velocity_ == null ? cmvr.msgs.AgvUtils.AgvVelocity.getDefaultInstance() : velocity_;
     }
     /**
      * 
@@ -5177,12 +5367,12 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvVelocity velocity = 9;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvVelocityOrBuilder getVelocityOrBuilder() {
+    public cmvr.msgs.AgvUtils.AgvVelocityOrBuilder getVelocityOrBuilder() {
       return getVelocity();
     }
 
     public static final int BATTERY_FIELD_NUMBER = 10;
-    private cmvr.msgs.Agv.AgvBatteryState battery_;
+    private cmvr.msgs.AgvUtils.AgvBatteryState battery_;
     /**
      * 
      * 当前电池状态。
@@ -5204,8 +5394,8 @@ java.lang.String defaultValue);
      * @return The battery.
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvBatteryState getBattery() {
-      return battery_ == null ? cmvr.msgs.Agv.AgvBatteryState.getDefaultInstance() : battery_;
+    public cmvr.msgs.AgvUtils.AgvBatteryState getBattery() {
+      return battery_ == null ? cmvr.msgs.AgvUtils.AgvBatteryState.getDefaultInstance() : battery_;
     }
     /**
      * 
@@ -5215,7 +5405,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvBatteryState battery = 10;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvBatteryStateOrBuilder getBatteryOrBuilder() {
+    public cmvr.msgs.AgvUtils.AgvBatteryStateOrBuilder getBatteryOrBuilder() {
       return getBattery();
     }
 
@@ -5478,10 +5668,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvRuntimeState)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvRuntimeState)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvRuntimeState other = (cmvr.msgs.Agv.AgvRuntimeState) obj;
+      cmvr.msgs.AgvUtils.AgvRuntimeState other = (cmvr.msgs.AgvUtils.AgvRuntimeState) obj;
 
       if (java.lang.Double.doubleToLongBits(getTimestamp())
           != java.lang.Double.doubleToLongBits(
@@ -5573,69 +5763,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvRuntimeState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvRuntimeState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvRuntimeState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvRuntimeState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvRuntimeState parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvRuntimeState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvRuntimeState parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvRuntimeState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvRuntimeState parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvRuntimeState parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvRuntimeState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvRuntimeState parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -5648,7 +5838,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvRuntimeState prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvRuntimeState prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -5673,21 +5863,21 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvRuntimeState)
-        cmvr.msgs.Agv.AgvRuntimeStateOrBuilder {
+        cmvr.msgs.AgvUtils.AgvRuntimeStateOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvRuntimeState_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvRuntimeState_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvRuntimeState_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvRuntimeState_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvRuntimeState.class, cmvr.msgs.Agv.AgvRuntimeState.Builder.class);
+                cmvr.msgs.AgvUtils.AgvRuntimeState.class, cmvr.msgs.AgvUtils.AgvRuntimeState.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvRuntimeState.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvRuntimeState.newBuilder()
       private Builder() {
 
       }
@@ -5744,17 +5934,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvRuntimeState_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvRuntimeState_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvRuntimeState getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvRuntimeState.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvRuntimeState getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvRuntimeState.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvRuntimeState build() {
-        cmvr.msgs.Agv.AgvRuntimeState result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvRuntimeState build() {
+        cmvr.msgs.AgvUtils.AgvRuntimeState result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -5762,8 +5952,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvRuntimeState buildPartial() {
-        cmvr.msgs.Agv.AgvRuntimeState result = new cmvr.msgs.Agv.AgvRuntimeState(this);
+      public cmvr.msgs.AgvUtils.AgvRuntimeState buildPartial() {
+        cmvr.msgs.AgvUtils.AgvRuntimeState result = new cmvr.msgs.AgvUtils.AgvRuntimeState(this);
         result.timestamp_ = timestamp_;
         result.mode_ = mode_;
         result.connected_ = connected_;
@@ -5827,16 +6017,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvRuntimeState) {
-          return mergeFrom((cmvr.msgs.Agv.AgvRuntimeState)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvRuntimeState) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvRuntimeState)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvRuntimeState other) {
-        if (other == cmvr.msgs.Agv.AgvRuntimeState.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvRuntimeState other) {
+        if (other == cmvr.msgs.AgvUtils.AgvRuntimeState.getDefaultInstance()) return this;
         if (other.getTimestamp() != 0D) {
           setTimestamp(other.getTimestamp());
         }
@@ -6293,9 +6483,9 @@ java.lang.String defaultValue);
         return this;
       }
 
-      private cmvr.msgs.Agv.AgvPose2d pose_;
+      private cmvr.msgs.AgvUtils.AgvPose2d pose_;
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvPose2d, cmvr.msgs.Agv.AgvPose2d.Builder, cmvr.msgs.Agv.AgvPose2dOrBuilder> poseBuilder_;
+          cmvr.msgs.AgvUtils.AgvPose2d, cmvr.msgs.AgvUtils.AgvPose2d.Builder, cmvr.msgs.AgvUtils.AgvPose2dOrBuilder> poseBuilder_;
       /**
        * 
        * 当前地图坐标系下的二维位姿。
@@ -6315,9 +6505,9 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvPose2d pose = 8;
        * @return The pose.
        */
-      public cmvr.msgs.Agv.AgvPose2d getPose() {
+      public cmvr.msgs.AgvUtils.AgvPose2d getPose() {
         if (poseBuilder_ == null) {
-          return pose_ == null ? cmvr.msgs.Agv.AgvPose2d.getDefaultInstance() : pose_;
+          return pose_ == null ? cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance() : pose_;
         } else {
           return poseBuilder_.getMessage();
         }
@@ -6329,7 +6519,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvPose2d pose = 8;
        */
-      public Builder setPose(cmvr.msgs.Agv.AgvPose2d value) {
+      public Builder setPose(cmvr.msgs.AgvUtils.AgvPose2d value) {
         if (poseBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -6350,7 +6540,7 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvPose2d pose = 8;
        */
       public Builder setPose(
-          cmvr.msgs.Agv.AgvPose2d.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvPose2d.Builder builderForValue) {
         if (poseBuilder_ == null) {
           pose_ = builderForValue.build();
           onChanged();
@@ -6367,11 +6557,11 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvPose2d pose = 8;
        */
-      public Builder mergePose(cmvr.msgs.Agv.AgvPose2d value) {
+      public Builder mergePose(cmvr.msgs.AgvUtils.AgvPose2d value) {
         if (poseBuilder_ == null) {
           if (pose_ != null) {
             pose_ =
-              cmvr.msgs.Agv.AgvPose2d.newBuilder(pose_).mergeFrom(value).buildPartial();
+              cmvr.msgs.AgvUtils.AgvPose2d.newBuilder(pose_).mergeFrom(value).buildPartial();
           } else {
             pose_ = value;
           }
@@ -6407,7 +6597,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvPose2d pose = 8;
        */
-      public cmvr.msgs.Agv.AgvPose2d.Builder getPoseBuilder() {
+      public cmvr.msgs.AgvUtils.AgvPose2d.Builder getPoseBuilder() {
         
         onChanged();
         return getPoseFieldBuilder().getBuilder();
@@ -6419,12 +6609,12 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvPose2d pose = 8;
        */
-      public cmvr.msgs.Agv.AgvPose2dOrBuilder getPoseOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvPose2dOrBuilder getPoseOrBuilder() {
         if (poseBuilder_ != null) {
           return poseBuilder_.getMessageOrBuilder();
         } else {
           return pose_ == null ?
-              cmvr.msgs.Agv.AgvPose2d.getDefaultInstance() : pose_;
+              cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance() : pose_;
         }
       }
       /**
@@ -6435,11 +6625,11 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvPose2d pose = 8;
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvPose2d, cmvr.msgs.Agv.AgvPose2d.Builder, cmvr.msgs.Agv.AgvPose2dOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvPose2d, cmvr.msgs.AgvUtils.AgvPose2d.Builder, cmvr.msgs.AgvUtils.AgvPose2dOrBuilder> 
           getPoseFieldBuilder() {
         if (poseBuilder_ == null) {
           poseBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.msgs.Agv.AgvPose2d, cmvr.msgs.Agv.AgvPose2d.Builder, cmvr.msgs.Agv.AgvPose2dOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvPose2d, cmvr.msgs.AgvUtils.AgvPose2d.Builder, cmvr.msgs.AgvUtils.AgvPose2dOrBuilder>(
                   getPose(),
                   getParentForChildren(),
                   isClean());
@@ -6448,9 +6638,9 @@ java.lang.String defaultValue);
         return poseBuilder_;
       }
 
-      private cmvr.msgs.Agv.AgvVelocity velocity_;
+      private cmvr.msgs.AgvUtils.AgvVelocity velocity_;
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvVelocity, cmvr.msgs.Agv.AgvVelocity.Builder, cmvr.msgs.Agv.AgvVelocityOrBuilder> velocityBuilder_;
+          cmvr.msgs.AgvUtils.AgvVelocity, cmvr.msgs.AgvUtils.AgvVelocity.Builder, cmvr.msgs.AgvUtils.AgvVelocityOrBuilder> velocityBuilder_;
       /**
        * 
        * 当前车体速度。
@@ -6470,9 +6660,9 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvVelocity velocity = 9;
        * @return The velocity.
        */
-      public cmvr.msgs.Agv.AgvVelocity getVelocity() {
+      public cmvr.msgs.AgvUtils.AgvVelocity getVelocity() {
         if (velocityBuilder_ == null) {
-          return velocity_ == null ? cmvr.msgs.Agv.AgvVelocity.getDefaultInstance() : velocity_;
+          return velocity_ == null ? cmvr.msgs.AgvUtils.AgvVelocity.getDefaultInstance() : velocity_;
         } else {
           return velocityBuilder_.getMessage();
         }
@@ -6484,7 +6674,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvVelocity velocity = 9;
        */
-      public Builder setVelocity(cmvr.msgs.Agv.AgvVelocity value) {
+      public Builder setVelocity(cmvr.msgs.AgvUtils.AgvVelocity value) {
         if (velocityBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -6505,7 +6695,7 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvVelocity velocity = 9;
        */
       public Builder setVelocity(
-          cmvr.msgs.Agv.AgvVelocity.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvVelocity.Builder builderForValue) {
         if (velocityBuilder_ == null) {
           velocity_ = builderForValue.build();
           onChanged();
@@ -6522,11 +6712,11 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvVelocity velocity = 9;
        */
-      public Builder mergeVelocity(cmvr.msgs.Agv.AgvVelocity value) {
+      public Builder mergeVelocity(cmvr.msgs.AgvUtils.AgvVelocity value) {
         if (velocityBuilder_ == null) {
           if (velocity_ != null) {
             velocity_ =
-              cmvr.msgs.Agv.AgvVelocity.newBuilder(velocity_).mergeFrom(value).buildPartial();
+              cmvr.msgs.AgvUtils.AgvVelocity.newBuilder(velocity_).mergeFrom(value).buildPartial();
           } else {
             velocity_ = value;
           }
@@ -6562,7 +6752,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvVelocity velocity = 9;
        */
-      public cmvr.msgs.Agv.AgvVelocity.Builder getVelocityBuilder() {
+      public cmvr.msgs.AgvUtils.AgvVelocity.Builder getVelocityBuilder() {
         
         onChanged();
         return getVelocityFieldBuilder().getBuilder();
@@ -6574,12 +6764,12 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvVelocity velocity = 9;
        */
-      public cmvr.msgs.Agv.AgvVelocityOrBuilder getVelocityOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvVelocityOrBuilder getVelocityOrBuilder() {
         if (velocityBuilder_ != null) {
           return velocityBuilder_.getMessageOrBuilder();
         } else {
           return velocity_ == null ?
-              cmvr.msgs.Agv.AgvVelocity.getDefaultInstance() : velocity_;
+              cmvr.msgs.AgvUtils.AgvVelocity.getDefaultInstance() : velocity_;
         }
       }
       /**
@@ -6590,11 +6780,11 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvVelocity velocity = 9;
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvVelocity, cmvr.msgs.Agv.AgvVelocity.Builder, cmvr.msgs.Agv.AgvVelocityOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvVelocity, cmvr.msgs.AgvUtils.AgvVelocity.Builder, cmvr.msgs.AgvUtils.AgvVelocityOrBuilder> 
           getVelocityFieldBuilder() {
         if (velocityBuilder_ == null) {
           velocityBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.msgs.Agv.AgvVelocity, cmvr.msgs.Agv.AgvVelocity.Builder, cmvr.msgs.Agv.AgvVelocityOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvVelocity, cmvr.msgs.AgvUtils.AgvVelocity.Builder, cmvr.msgs.AgvUtils.AgvVelocityOrBuilder>(
                   getVelocity(),
                   getParentForChildren(),
                   isClean());
@@ -6603,9 +6793,9 @@ java.lang.String defaultValue);
         return velocityBuilder_;
       }
 
-      private cmvr.msgs.Agv.AgvBatteryState battery_;
+      private cmvr.msgs.AgvUtils.AgvBatteryState battery_;
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvBatteryState, cmvr.msgs.Agv.AgvBatteryState.Builder, cmvr.msgs.Agv.AgvBatteryStateOrBuilder> batteryBuilder_;
+          cmvr.msgs.AgvUtils.AgvBatteryState, cmvr.msgs.AgvUtils.AgvBatteryState.Builder, cmvr.msgs.AgvUtils.AgvBatteryStateOrBuilder> batteryBuilder_;
       /**
        * 
        * 当前电池状态。
@@ -6625,9 +6815,9 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvBatteryState battery = 10;
        * @return The battery.
        */
-      public cmvr.msgs.Agv.AgvBatteryState getBattery() {
+      public cmvr.msgs.AgvUtils.AgvBatteryState getBattery() {
         if (batteryBuilder_ == null) {
-          return battery_ == null ? cmvr.msgs.Agv.AgvBatteryState.getDefaultInstance() : battery_;
+          return battery_ == null ? cmvr.msgs.AgvUtils.AgvBatteryState.getDefaultInstance() : battery_;
         } else {
           return batteryBuilder_.getMessage();
         }
@@ -6639,7 +6829,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvBatteryState battery = 10;
        */
-      public Builder setBattery(cmvr.msgs.Agv.AgvBatteryState value) {
+      public Builder setBattery(cmvr.msgs.AgvUtils.AgvBatteryState value) {
         if (batteryBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -6660,7 +6850,7 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvBatteryState battery = 10;
        */
       public Builder setBattery(
-          cmvr.msgs.Agv.AgvBatteryState.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvBatteryState.Builder builderForValue) {
         if (batteryBuilder_ == null) {
           battery_ = builderForValue.build();
           onChanged();
@@ -6677,11 +6867,11 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvBatteryState battery = 10;
        */
-      public Builder mergeBattery(cmvr.msgs.Agv.AgvBatteryState value) {
+      public Builder mergeBattery(cmvr.msgs.AgvUtils.AgvBatteryState value) {
         if (batteryBuilder_ == null) {
           if (battery_ != null) {
             battery_ =
-              cmvr.msgs.Agv.AgvBatteryState.newBuilder(battery_).mergeFrom(value).buildPartial();
+              cmvr.msgs.AgvUtils.AgvBatteryState.newBuilder(battery_).mergeFrom(value).buildPartial();
           } else {
             battery_ = value;
           }
@@ -6717,7 +6907,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvBatteryState battery = 10;
        */
-      public cmvr.msgs.Agv.AgvBatteryState.Builder getBatteryBuilder() {
+      public cmvr.msgs.AgvUtils.AgvBatteryState.Builder getBatteryBuilder() {
         
         onChanged();
         return getBatteryFieldBuilder().getBuilder();
@@ -6729,12 +6919,12 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvBatteryState battery = 10;
        */
-      public cmvr.msgs.Agv.AgvBatteryStateOrBuilder getBatteryOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvBatteryStateOrBuilder getBatteryOrBuilder() {
         if (batteryBuilder_ != null) {
           return batteryBuilder_.getMessageOrBuilder();
         } else {
           return battery_ == null ?
-              cmvr.msgs.Agv.AgvBatteryState.getDefaultInstance() : battery_;
+              cmvr.msgs.AgvUtils.AgvBatteryState.getDefaultInstance() : battery_;
         }
       }
       /**
@@ -6745,11 +6935,11 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvBatteryState battery = 10;
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvBatteryState, cmvr.msgs.Agv.AgvBatteryState.Builder, cmvr.msgs.Agv.AgvBatteryStateOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvBatteryState, cmvr.msgs.AgvUtils.AgvBatteryState.Builder, cmvr.msgs.AgvUtils.AgvBatteryStateOrBuilder> 
           getBatteryFieldBuilder() {
         if (batteryBuilder_ == null) {
           batteryBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.msgs.Agv.AgvBatteryState, cmvr.msgs.Agv.AgvBatteryState.Builder, cmvr.msgs.Agv.AgvBatteryStateOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvBatteryState, cmvr.msgs.AgvUtils.AgvBatteryState.Builder, cmvr.msgs.AgvUtils.AgvBatteryStateOrBuilder>(
                   getBattery(),
                   getParentForChildren(),
                   isClean());
@@ -7062,12 +7252,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvRuntimeState)
-    private static final cmvr.msgs.Agv.AgvRuntimeState DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvRuntimeState DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvRuntimeState();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvRuntimeState();
     }
 
-    public static cmvr.msgs.Agv.AgvRuntimeState getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvRuntimeState getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -7103,7 +7293,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvRuntimeState getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvRuntimeState getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -7170,7 +7360,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvPose2d pose = 3;
      * @return The pose.
      */
-    cmvr.msgs.Agv.AgvPose2d getPose();
+    cmvr.msgs.AgvUtils.AgvPose2d getPose();
     /**
      * 
      * 站点在地图坐标系下的二维位姿。
@@ -7178,7 +7368,7 @@ java.lang.String defaultValue);
      *
      * .cmvr.msgs.AgvPose2d pose = 3;
      */
-    cmvr.msgs.Agv.AgvPose2dOrBuilder getPoseOrBuilder();
+    cmvr.msgs.AgvUtils.AgvPose2dOrBuilder getPoseOrBuilder();
 
     /**
      * 
@@ -7236,15 +7426,15 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvStation_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvStation_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvStation_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvStation_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvStation.class, cmvr.msgs.Agv.AgvStation.Builder.class);
+              cmvr.msgs.AgvUtils.AgvStation.class, cmvr.msgs.AgvUtils.AgvStation.Builder.class);
     }
 
     public static final int ID_FIELD_NUMBER = 1;
@@ -7340,7 +7530,7 @@ java.lang.String defaultValue);
     }
 
     public static final int POSE_FIELD_NUMBER = 3;
-    private cmvr.msgs.Agv.AgvPose2d pose_;
+    private cmvr.msgs.AgvUtils.AgvPose2d pose_;
     /**
      * 
      * 站点在地图坐标系下的二维位姿。
@@ -7362,8 +7552,8 @@ java.lang.String defaultValue);
      * @return The pose.
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvPose2d getPose() {
-      return pose_ == null ? cmvr.msgs.Agv.AgvPose2d.getDefaultInstance() : pose_;
+    public cmvr.msgs.AgvUtils.AgvPose2d getPose() {
+      return pose_ == null ? cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance() : pose_;
     }
     /**
      * 
@@ -7373,7 +7563,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvPose2d pose = 3;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvPose2dOrBuilder getPoseOrBuilder() {
+    public cmvr.msgs.AgvUtils.AgvPose2dOrBuilder getPoseOrBuilder() {
       return getPose();
     }
 
@@ -7481,10 +7671,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvStation)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvStation)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvStation other = (cmvr.msgs.Agv.AgvStation) obj;
+      cmvr.msgs.AgvUtils.AgvStation other = (cmvr.msgs.AgvUtils.AgvStation) obj;
 
       if (!getId()
           .equals(other.getId())) return false;
@@ -7523,69 +7713,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvStation parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvStation parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvStation parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvStation parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvStation parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvStation parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvStation parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvStation parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvStation parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvStation parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvStation parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvStation parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvStation parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvStation parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvStation parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvStation parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvStation parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvStation parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvStation parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvStation parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvStation parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvStation parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvStation parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvStation parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -7598,7 +7788,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvStation prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvStation prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -7623,21 +7813,21 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvStation)
-        cmvr.msgs.Agv.AgvStationOrBuilder {
+        cmvr.msgs.AgvUtils.AgvStationOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvStation_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvStation_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvStation_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvStation_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvStation.class, cmvr.msgs.Agv.AgvStation.Builder.class);
+                cmvr.msgs.AgvUtils.AgvStation.class, cmvr.msgs.AgvUtils.AgvStation.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvStation.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvStation.newBuilder()
       private Builder() {
 
       }
@@ -7668,17 +7858,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvStation_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvStation_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvStation getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvStation.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvStation getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvStation.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvStation build() {
-        cmvr.msgs.Agv.AgvStation result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvStation build() {
+        cmvr.msgs.AgvUtils.AgvStation result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -7686,8 +7876,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvStation buildPartial() {
-        cmvr.msgs.Agv.AgvStation result = new cmvr.msgs.Agv.AgvStation(this);
+      public cmvr.msgs.AgvUtils.AgvStation buildPartial() {
+        cmvr.msgs.AgvUtils.AgvStation result = new cmvr.msgs.AgvUtils.AgvStation(this);
         result.id_ = id_;
         result.type_ = type_;
         if (poseBuilder_ == null) {
@@ -7734,16 +7924,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvStation) {
-          return mergeFrom((cmvr.msgs.Agv.AgvStation)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvStation) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvStation)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvStation other) {
-        if (other == cmvr.msgs.Agv.AgvStation.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvStation other) {
+        if (other == cmvr.msgs.AgvUtils.AgvStation.getDefaultInstance()) return this;
         if (!other.getId().isEmpty()) {
           id_ = other.id_;
           onChanged();
@@ -8015,9 +8205,9 @@ java.lang.String defaultValue);
         return this;
       }
 
-      private cmvr.msgs.Agv.AgvPose2d pose_;
+      private cmvr.msgs.AgvUtils.AgvPose2d pose_;
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvPose2d, cmvr.msgs.Agv.AgvPose2d.Builder, cmvr.msgs.Agv.AgvPose2dOrBuilder> poseBuilder_;
+          cmvr.msgs.AgvUtils.AgvPose2d, cmvr.msgs.AgvUtils.AgvPose2d.Builder, cmvr.msgs.AgvUtils.AgvPose2dOrBuilder> poseBuilder_;
       /**
        * 
        * 站点在地图坐标系下的二维位姿。
@@ -8037,9 +8227,9 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvPose2d pose = 3;
        * @return The pose.
        */
-      public cmvr.msgs.Agv.AgvPose2d getPose() {
+      public cmvr.msgs.AgvUtils.AgvPose2d getPose() {
         if (poseBuilder_ == null) {
-          return pose_ == null ? cmvr.msgs.Agv.AgvPose2d.getDefaultInstance() : pose_;
+          return pose_ == null ? cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance() : pose_;
         } else {
           return poseBuilder_.getMessage();
         }
@@ -8051,7 +8241,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvPose2d pose = 3;
        */
-      public Builder setPose(cmvr.msgs.Agv.AgvPose2d value) {
+      public Builder setPose(cmvr.msgs.AgvUtils.AgvPose2d value) {
         if (poseBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -8072,7 +8262,7 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvPose2d pose = 3;
        */
       public Builder setPose(
-          cmvr.msgs.Agv.AgvPose2d.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvPose2d.Builder builderForValue) {
         if (poseBuilder_ == null) {
           pose_ = builderForValue.build();
           onChanged();
@@ -8089,11 +8279,11 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvPose2d pose = 3;
        */
-      public Builder mergePose(cmvr.msgs.Agv.AgvPose2d value) {
+      public Builder mergePose(cmvr.msgs.AgvUtils.AgvPose2d value) {
         if (poseBuilder_ == null) {
           if (pose_ != null) {
             pose_ =
-              cmvr.msgs.Agv.AgvPose2d.newBuilder(pose_).mergeFrom(value).buildPartial();
+              cmvr.msgs.AgvUtils.AgvPose2d.newBuilder(pose_).mergeFrom(value).buildPartial();
           } else {
             pose_ = value;
           }
@@ -8129,7 +8319,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvPose2d pose = 3;
        */
-      public cmvr.msgs.Agv.AgvPose2d.Builder getPoseBuilder() {
+      public cmvr.msgs.AgvUtils.AgvPose2d.Builder getPoseBuilder() {
         
         onChanged();
         return getPoseFieldBuilder().getBuilder();
@@ -8141,12 +8331,12 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvPose2d pose = 3;
        */
-      public cmvr.msgs.Agv.AgvPose2dOrBuilder getPoseOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvPose2dOrBuilder getPoseOrBuilder() {
         if (poseBuilder_ != null) {
           return poseBuilder_.getMessageOrBuilder();
         } else {
           return pose_ == null ?
-              cmvr.msgs.Agv.AgvPose2d.getDefaultInstance() : pose_;
+              cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance() : pose_;
         }
       }
       /**
@@ -8157,11 +8347,11 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvPose2d pose = 3;
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvPose2d, cmvr.msgs.Agv.AgvPose2d.Builder, cmvr.msgs.Agv.AgvPose2dOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvPose2d, cmvr.msgs.AgvUtils.AgvPose2d.Builder, cmvr.msgs.AgvUtils.AgvPose2dOrBuilder> 
           getPoseFieldBuilder() {
         if (poseBuilder_ == null) {
           poseBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.msgs.Agv.AgvPose2d, cmvr.msgs.Agv.AgvPose2d.Builder, cmvr.msgs.Agv.AgvPose2dOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvPose2d, cmvr.msgs.AgvUtils.AgvPose2d.Builder, cmvr.msgs.AgvUtils.AgvPose2dOrBuilder>(
                   getPose(),
                   getParentForChildren(),
                   isClean());
@@ -8282,12 +8472,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvStation)
-    private static final cmvr.msgs.Agv.AgvStation DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvStation DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvStation();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvStation();
     }
 
-    public static cmvr.msgs.Agv.AgvStation getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvStation getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -8323,7 +8513,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvStation getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvStation getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -8408,15 +8598,15 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvPathSegment_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvPathSegment_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvPathSegment_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvPathSegment_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvPathSegment.class, cmvr.msgs.Agv.AgvPathSegment.Builder.class);
+              cmvr.msgs.AgvUtils.AgvPathSegment.class, cmvr.msgs.AgvUtils.AgvPathSegment.Builder.class);
     }
 
     public static final int SOURCE_STATION_FIELD_NUMBER = 1;
@@ -8556,10 +8746,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvPathSegment)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvPathSegment)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvPathSegment other = (cmvr.msgs.Agv.AgvPathSegment) obj;
+      cmvr.msgs.AgvUtils.AgvPathSegment other = (cmvr.msgs.AgvUtils.AgvPathSegment) obj;
 
       if (!getSourceStation()
           .equals(other.getSourceStation())) return false;
@@ -8585,69 +8775,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvPathSegment parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPathSegment parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvPathSegment parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPathSegment parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvPathSegment parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPathSegment parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvPathSegment parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPathSegment parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvPathSegment parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvPathSegment parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvPathSegment parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPathSegment parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvPathSegment parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvPathSegment parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvPathSegment parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPathSegment parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvPathSegment parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvPathSegment parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvPathSegment parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvPathSegment parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvPathSegment parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPathSegment parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvPathSegment parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvPathSegment parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -8660,7 +8850,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvPathSegment prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvPathSegment prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -8685,21 +8875,21 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvPathSegment)
-        cmvr.msgs.Agv.AgvPathSegmentOrBuilder {
+        cmvr.msgs.AgvUtils.AgvPathSegmentOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvPathSegment_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvPathSegment_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvPathSegment_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvPathSegment_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvPathSegment.class, cmvr.msgs.Agv.AgvPathSegment.Builder.class);
+                cmvr.msgs.AgvUtils.AgvPathSegment.class, cmvr.msgs.AgvUtils.AgvPathSegment.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvPathSegment.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvPathSegment.newBuilder()
       private Builder() {
 
       }
@@ -8722,17 +8912,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvPathSegment_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvPathSegment_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvPathSegment getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvPathSegment.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvPathSegment getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvPathSegment.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvPathSegment build() {
-        cmvr.msgs.Agv.AgvPathSegment result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvPathSegment build() {
+        cmvr.msgs.AgvUtils.AgvPathSegment result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -8740,8 +8930,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvPathSegment buildPartial() {
-        cmvr.msgs.Agv.AgvPathSegment result = new cmvr.msgs.Agv.AgvPathSegment(this);
+      public cmvr.msgs.AgvUtils.AgvPathSegment buildPartial() {
+        cmvr.msgs.AgvUtils.AgvPathSegment result = new cmvr.msgs.AgvUtils.AgvPathSegment(this);
         result.sourceStation_ = sourceStation_;
         result.targetStation_ = targetStation_;
         onBuilt();
@@ -8782,16 +8972,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvPathSegment) {
-          return mergeFrom((cmvr.msgs.Agv.AgvPathSegment)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvPathSegment) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvPathSegment)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvPathSegment other) {
-        if (other == cmvr.msgs.Agv.AgvPathSegment.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvPathSegment other) {
+        if (other == cmvr.msgs.AgvUtils.AgvPathSegment.getDefaultInstance()) return this;
         if (!other.getSourceStation().isEmpty()) {
           sourceStation_ = other.sourceStation_;
           onChanged();
@@ -9060,12 +9250,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvPathSegment)
-    private static final cmvr.msgs.Agv.AgvPathSegment DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvPathSegment DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvPathSegment();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvPathSegment();
     }
 
-    public static cmvr.msgs.Agv.AgvPathSegment getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvPathSegment getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -9101,7 +9291,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvPathSegment getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvPathSegment getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -9174,15 +9364,15 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPoint3D_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPoint3D_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPoint3D_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPoint3D_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvMapPoint3D.class, cmvr.msgs.Agv.AgvMapPoint3D.Builder.class);
+              cmvr.msgs.AgvUtils.AgvMapPoint3D.class, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder.class);
     }
 
     public static final int X_FIELD_NUMBER = 1;
@@ -9284,10 +9474,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvMapPoint3D)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvMapPoint3D)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvMapPoint3D other = (cmvr.msgs.Agv.AgvMapPoint3D) obj;
+      cmvr.msgs.AgvUtils.AgvMapPoint3D other = (cmvr.msgs.AgvUtils.AgvMapPoint3D) obj;
 
       if (java.lang.Double.doubleToLongBits(getX())
           != java.lang.Double.doubleToLongBits(
@@ -9323,69 +9513,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvMapPoint3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapPoint3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPoint3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapPoint3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPoint3D parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapPoint3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPoint3D parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapPoint3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPoint3D parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapPoint3D parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPoint3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapPoint3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -9398,7 +9588,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvMapPoint3D prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvMapPoint3D prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -9423,21 +9613,21 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvMapPoint3D)
-        cmvr.msgs.Agv.AgvMapPoint3DOrBuilder {
+        cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPoint3D_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPoint3D_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPoint3D_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPoint3D_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvMapPoint3D.class, cmvr.msgs.Agv.AgvMapPoint3D.Builder.class);
+                cmvr.msgs.AgvUtils.AgvMapPoint3D.class, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvMapPoint3D.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvMapPoint3D.newBuilder()
       private Builder() {
 
       }
@@ -9462,17 +9652,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPoint3D_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPoint3D_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapPoint3D getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvMapPoint3D.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvMapPoint3D getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvMapPoint3D.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapPoint3D build() {
-        cmvr.msgs.Agv.AgvMapPoint3D result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvMapPoint3D build() {
+        cmvr.msgs.AgvUtils.AgvMapPoint3D result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -9480,8 +9670,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapPoint3D buildPartial() {
-        cmvr.msgs.Agv.AgvMapPoint3D result = new cmvr.msgs.Agv.AgvMapPoint3D(this);
+      public cmvr.msgs.AgvUtils.AgvMapPoint3D buildPartial() {
+        cmvr.msgs.AgvUtils.AgvMapPoint3D result = new cmvr.msgs.AgvUtils.AgvMapPoint3D(this);
         result.x_ = x_;
         result.y_ = y_;
         result.z_ = z_;
@@ -9523,16 +9713,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvMapPoint3D) {
-          return mergeFrom((cmvr.msgs.Agv.AgvMapPoint3D)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvMapPoint3D) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvMapPoint3D)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvMapPoint3D other) {
-        if (other == cmvr.msgs.Agv.AgvMapPoint3D.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvMapPoint3D other) {
+        if (other == cmvr.msgs.AgvUtils.AgvMapPoint3D.getDefaultInstance()) return this;
         if (other.getX() != 0D) {
           setX(other.getX());
         }
@@ -9744,12 +9934,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvMapPoint3D)
-    private static final cmvr.msgs.Agv.AgvMapPoint3D DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvMapPoint3D DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvMapPoint3D();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvMapPoint3D();
     }
 
-    public static cmvr.msgs.Agv.AgvMapPoint3D getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvMapPoint3D getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -9785,7 +9975,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPoint3D getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvMapPoint3D getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -9872,7 +10062,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvPose2d origin = 6;
      * @return The origin.
      */
-    cmvr.msgs.Agv.AgvPose2d getOrigin();
+    cmvr.msgs.AgvUtils.AgvPose2d getOrigin();
     /**
      * 
      * 栅格 (0, 0) 在世界/地图坐标系下的位姿；x/y 单位：米，theta 单位：弧度。
@@ -9880,7 +10070,7 @@ java.lang.String defaultValue);
      *
      * .cmvr.msgs.AgvPose2d origin = 6;
      */
-    cmvr.msgs.Agv.AgvPose2dOrBuilder getOriginOrBuilder();
+    cmvr.msgs.AgvUtils.AgvPose2dOrBuilder getOriginOrBuilder();
 
     /**
      * 
@@ -9918,7 +10108,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapObject objects = 8;
      */
-    java.util.List 
+    java.util.List 
         getObjectsList();
     /**
      * 
@@ -9927,7 +10117,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapObject objects = 8;
      */
-    cmvr.msgs.Agv.AgvMapObject getObjects(int index);
+    cmvr.msgs.AgvUtils.AgvMapObject getObjects(int index);
     /**
      * 
      * 地图中的统一语义对象，例如站点、线、区域、标签、反光板等。
@@ -9943,7 +10133,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapObject objects = 8;
      */
-    java.util.List 
+    java.util.List 
         getObjectsOrBuilderList();
     /**
      * 
@@ -9952,7 +10142,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapObject objects = 8;
      */
-    cmvr.msgs.Agv.AgvMapObjectOrBuilder getObjectsOrBuilder(
+    cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder getObjectsOrBuilder(
         int index);
   }
   /**
@@ -9991,15 +10181,15 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMap2D_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMap2D_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMap2D_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMap2D_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvUnifiedMap2D.class, cmvr.msgs.Agv.AgvUnifiedMap2D.Builder.class);
+              cmvr.msgs.AgvUtils.AgvUnifiedMap2D.class, cmvr.msgs.AgvUtils.AgvUnifiedMap2D.Builder.class);
     }
 
     public static final int FRAME_ID_FIELD_NUMBER = 1;
@@ -10109,7 +10299,7 @@ java.lang.String defaultValue);
     }
 
     public static final int ORIGIN_FIELD_NUMBER = 6;
-    private cmvr.msgs.Agv.AgvPose2d origin_;
+    private cmvr.msgs.AgvUtils.AgvPose2d origin_;
     /**
      * 
      * 栅格 (0, 0) 在世界/地图坐标系下的位姿；x/y 单位：米，theta 单位：弧度。
@@ -10131,8 +10321,8 @@ java.lang.String defaultValue);
      * @return The origin.
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvPose2d getOrigin() {
-      return origin_ == null ? cmvr.msgs.Agv.AgvPose2d.getDefaultInstance() : origin_;
+    public cmvr.msgs.AgvUtils.AgvPose2d getOrigin() {
+      return origin_ == null ? cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance() : origin_;
     }
     /**
      * 
@@ -10142,7 +10332,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvPose2d origin = 6;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvPose2dOrBuilder getOriginOrBuilder() {
+    public cmvr.msgs.AgvUtils.AgvPose2dOrBuilder getOriginOrBuilder() {
       return getOrigin();
     }
 
@@ -10187,7 +10377,7 @@ java.lang.String defaultValue);
     private int dataMemoizedSerializedSize = -1;
 
     public static final int OBJECTS_FIELD_NUMBER = 8;
-    private java.util.List objects_;
+    private java.util.List objects_;
     /**
      * 
      * 地图中的统一语义对象，例如站点、线、区域、标签、反光板等。
@@ -10196,7 +10386,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapObject objects = 8;
      */
     @java.lang.Override
-    public java.util.List getObjectsList() {
+    public java.util.List getObjectsList() {
       return objects_;
     }
     /**
@@ -10207,7 +10397,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapObject objects = 8;
      */
     @java.lang.Override
-    public java.util.List 
+    public java.util.List 
         getObjectsOrBuilderList() {
       return objects_;
     }
@@ -10230,7 +10420,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapObject objects = 8;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapObject getObjects(int index) {
+    public cmvr.msgs.AgvUtils.AgvMapObject getObjects(int index) {
       return objects_.get(index);
     }
     /**
@@ -10241,7 +10431,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapObject objects = 8;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapObjectOrBuilder getObjectsOrBuilder(
+    public cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder getObjectsOrBuilder(
         int index) {
       return objects_.get(index);
     }
@@ -10349,10 +10539,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvUnifiedMap2D)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvUnifiedMap2D)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvUnifiedMap2D other = (cmvr.msgs.Agv.AgvUnifiedMap2D) obj;
+      cmvr.msgs.AgvUtils.AgvUnifiedMap2D other = (cmvr.msgs.AgvUtils.AgvUnifiedMap2D) obj;
 
       if (!getFrameId()
           .equals(other.getFrameId())) return false;
@@ -10415,69 +10605,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -10490,7 +10680,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvUnifiedMap2D prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvUnifiedMap2D prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -10515,21 +10705,21 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvUnifiedMap2D)
-        cmvr.msgs.Agv.AgvUnifiedMap2DOrBuilder {
+        cmvr.msgs.AgvUtils.AgvUnifiedMap2DOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMap2D_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMap2D_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMap2D_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMap2D_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvUnifiedMap2D.class, cmvr.msgs.Agv.AgvUnifiedMap2D.Builder.class);
+                cmvr.msgs.AgvUtils.AgvUnifiedMap2D.class, cmvr.msgs.AgvUtils.AgvUnifiedMap2D.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvUnifiedMap2D.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvUnifiedMap2D.newBuilder()
       private Builder() {
 
       }
@@ -10573,17 +10763,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMap2D_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMap2D_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMap2D getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvUnifiedMap2D.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvUnifiedMap2D getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvUnifiedMap2D.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMap2D build() {
-        cmvr.msgs.Agv.AgvUnifiedMap2D result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvUnifiedMap2D build() {
+        cmvr.msgs.AgvUtils.AgvUnifiedMap2D result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -10591,8 +10781,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMap2D buildPartial() {
-        cmvr.msgs.Agv.AgvUnifiedMap2D result = new cmvr.msgs.Agv.AgvUnifiedMap2D(this);
+      public cmvr.msgs.AgvUtils.AgvUnifiedMap2D buildPartial() {
+        cmvr.msgs.AgvUtils.AgvUnifiedMap2D result = new cmvr.msgs.AgvUtils.AgvUnifiedMap2D(this);
         int from_bitField0_ = bitField0_;
         result.frameId_ = frameId_;
         result.timestamp_ = timestamp_;
@@ -10656,16 +10846,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvUnifiedMap2D) {
-          return mergeFrom((cmvr.msgs.Agv.AgvUnifiedMap2D)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvUnifiedMap2D) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvUnifiedMap2D)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvUnifiedMap2D other) {
-        if (other == cmvr.msgs.Agv.AgvUnifiedMap2D.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvUnifiedMap2D other) {
+        if (other == cmvr.msgs.AgvUtils.AgvUnifiedMap2D.getDefaultInstance()) return this;
         if (!other.getFrameId().isEmpty()) {
           frameId_ = other.frameId_;
           onChanged();
@@ -10796,9 +10986,9 @@ java.lang.String defaultValue);
                 break;
               } // case 58
               case 66: {
-                cmvr.msgs.Agv.AgvMapObject m =
+                cmvr.msgs.AgvUtils.AgvMapObject m =
                     input.readMessage(
-                        cmvr.msgs.Agv.AgvMapObject.parser(),
+                        cmvr.msgs.AgvUtils.AgvMapObject.parser(),
                         extensionRegistry);
                 if (objectsBuilder_ == null) {
                   ensureObjectsIsMutable();
@@ -11093,9 +11283,9 @@ java.lang.String defaultValue);
         return this;
       }
 
-      private cmvr.msgs.Agv.AgvPose2d origin_;
+      private cmvr.msgs.AgvUtils.AgvPose2d origin_;
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvPose2d, cmvr.msgs.Agv.AgvPose2d.Builder, cmvr.msgs.Agv.AgvPose2dOrBuilder> originBuilder_;
+          cmvr.msgs.AgvUtils.AgvPose2d, cmvr.msgs.AgvUtils.AgvPose2d.Builder, cmvr.msgs.AgvUtils.AgvPose2dOrBuilder> originBuilder_;
       /**
        * 
        * 栅格 (0, 0) 在世界/地图坐标系下的位姿；x/y 单位：米，theta 单位：弧度。
@@ -11115,9 +11305,9 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvPose2d origin = 6;
        * @return The origin.
        */
-      public cmvr.msgs.Agv.AgvPose2d getOrigin() {
+      public cmvr.msgs.AgvUtils.AgvPose2d getOrigin() {
         if (originBuilder_ == null) {
-          return origin_ == null ? cmvr.msgs.Agv.AgvPose2d.getDefaultInstance() : origin_;
+          return origin_ == null ? cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance() : origin_;
         } else {
           return originBuilder_.getMessage();
         }
@@ -11129,7 +11319,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvPose2d origin = 6;
        */
-      public Builder setOrigin(cmvr.msgs.Agv.AgvPose2d value) {
+      public Builder setOrigin(cmvr.msgs.AgvUtils.AgvPose2d value) {
         if (originBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -11150,7 +11340,7 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvPose2d origin = 6;
        */
       public Builder setOrigin(
-          cmvr.msgs.Agv.AgvPose2d.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvPose2d.Builder builderForValue) {
         if (originBuilder_ == null) {
           origin_ = builderForValue.build();
           onChanged();
@@ -11167,11 +11357,11 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvPose2d origin = 6;
        */
-      public Builder mergeOrigin(cmvr.msgs.Agv.AgvPose2d value) {
+      public Builder mergeOrigin(cmvr.msgs.AgvUtils.AgvPose2d value) {
         if (originBuilder_ == null) {
           if (origin_ != null) {
             origin_ =
-              cmvr.msgs.Agv.AgvPose2d.newBuilder(origin_).mergeFrom(value).buildPartial();
+              cmvr.msgs.AgvUtils.AgvPose2d.newBuilder(origin_).mergeFrom(value).buildPartial();
           } else {
             origin_ = value;
           }
@@ -11207,7 +11397,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvPose2d origin = 6;
        */
-      public cmvr.msgs.Agv.AgvPose2d.Builder getOriginBuilder() {
+      public cmvr.msgs.AgvUtils.AgvPose2d.Builder getOriginBuilder() {
         
         onChanged();
         return getOriginFieldBuilder().getBuilder();
@@ -11219,12 +11409,12 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvPose2d origin = 6;
        */
-      public cmvr.msgs.Agv.AgvPose2dOrBuilder getOriginOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvPose2dOrBuilder getOriginOrBuilder() {
         if (originBuilder_ != null) {
           return originBuilder_.getMessageOrBuilder();
         } else {
           return origin_ == null ?
-              cmvr.msgs.Agv.AgvPose2d.getDefaultInstance() : origin_;
+              cmvr.msgs.AgvUtils.AgvPose2d.getDefaultInstance() : origin_;
         }
       }
       /**
@@ -11235,11 +11425,11 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvPose2d origin = 6;
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvPose2d, cmvr.msgs.Agv.AgvPose2d.Builder, cmvr.msgs.Agv.AgvPose2dOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvPose2d, cmvr.msgs.AgvUtils.AgvPose2d.Builder, cmvr.msgs.AgvUtils.AgvPose2dOrBuilder> 
           getOriginFieldBuilder() {
         if (originBuilder_ == null) {
           originBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.msgs.Agv.AgvPose2d, cmvr.msgs.Agv.AgvPose2d.Builder, cmvr.msgs.Agv.AgvPose2dOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvPose2d, cmvr.msgs.AgvUtils.AgvPose2d.Builder, cmvr.msgs.AgvUtils.AgvPose2dOrBuilder>(
                   getOrigin(),
                   getParentForChildren(),
                   isClean());
@@ -11355,17 +11545,17 @@ java.lang.String defaultValue);
         return this;
       }
 
-      private java.util.List objects_ =
+      private java.util.List objects_ =
         java.util.Collections.emptyList();
       private void ensureObjectsIsMutable() {
         if (!((bitField0_ & 0x00000002) != 0)) {
-          objects_ = new java.util.ArrayList(objects_);
+          objects_ = new java.util.ArrayList(objects_);
           bitField0_ |= 0x00000002;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapObject, cmvr.msgs.Agv.AgvMapObject.Builder, cmvr.msgs.Agv.AgvMapObjectOrBuilder> objectsBuilder_;
+          cmvr.msgs.AgvUtils.AgvMapObject, cmvr.msgs.AgvUtils.AgvMapObject.Builder, cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder> objectsBuilder_;
 
       /**
        * 
@@ -11374,7 +11564,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
-      public java.util.List getObjectsList() {
+      public java.util.List getObjectsList() {
         if (objectsBuilder_ == null) {
           return java.util.Collections.unmodifiableList(objects_);
         } else {
@@ -11402,7 +11592,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
-      public cmvr.msgs.Agv.AgvMapObject getObjects(int index) {
+      public cmvr.msgs.AgvUtils.AgvMapObject getObjects(int index) {
         if (objectsBuilder_ == null) {
           return objects_.get(index);
         } else {
@@ -11417,7 +11607,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
       public Builder setObjects(
-          int index, cmvr.msgs.Agv.AgvMapObject value) {
+          int index, cmvr.msgs.AgvUtils.AgvMapObject value) {
         if (objectsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -11438,7 +11628,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
       public Builder setObjects(
-          int index, cmvr.msgs.Agv.AgvMapObject.Builder builderForValue) {
+          int index, cmvr.msgs.AgvUtils.AgvMapObject.Builder builderForValue) {
         if (objectsBuilder_ == null) {
           ensureObjectsIsMutable();
           objects_.set(index, builderForValue.build());
@@ -11455,7 +11645,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
-      public Builder addObjects(cmvr.msgs.Agv.AgvMapObject value) {
+      public Builder addObjects(cmvr.msgs.AgvUtils.AgvMapObject value) {
         if (objectsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -11476,7 +11666,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
       public Builder addObjects(
-          int index, cmvr.msgs.Agv.AgvMapObject value) {
+          int index, cmvr.msgs.AgvUtils.AgvMapObject value) {
         if (objectsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -11497,7 +11687,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
       public Builder addObjects(
-          cmvr.msgs.Agv.AgvMapObject.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvMapObject.Builder builderForValue) {
         if (objectsBuilder_ == null) {
           ensureObjectsIsMutable();
           objects_.add(builderForValue.build());
@@ -11515,7 +11705,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
       public Builder addObjects(
-          int index, cmvr.msgs.Agv.AgvMapObject.Builder builderForValue) {
+          int index, cmvr.msgs.AgvUtils.AgvMapObject.Builder builderForValue) {
         if (objectsBuilder_ == null) {
           ensureObjectsIsMutable();
           objects_.add(index, builderForValue.build());
@@ -11533,7 +11723,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
       public Builder addAllObjects(
-          java.lang.Iterable values) {
+          java.lang.Iterable values) {
         if (objectsBuilder_ == null) {
           ensureObjectsIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -11585,7 +11775,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
-      public cmvr.msgs.Agv.AgvMapObject.Builder getObjectsBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapObject.Builder getObjectsBuilder(
           int index) {
         return getObjectsFieldBuilder().getBuilder(index);
       }
@@ -11596,7 +11786,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
-      public cmvr.msgs.Agv.AgvMapObjectOrBuilder getObjectsOrBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder getObjectsOrBuilder(
           int index) {
         if (objectsBuilder_ == null) {
           return objects_.get(index);  } else {
@@ -11610,7 +11800,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
-      public java.util.List 
+      public java.util.List 
            getObjectsOrBuilderList() {
         if (objectsBuilder_ != null) {
           return objectsBuilder_.getMessageOrBuilderList();
@@ -11625,9 +11815,9 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
-      public cmvr.msgs.Agv.AgvMapObject.Builder addObjectsBuilder() {
+      public cmvr.msgs.AgvUtils.AgvMapObject.Builder addObjectsBuilder() {
         return getObjectsFieldBuilder().addBuilder(
-            cmvr.msgs.Agv.AgvMapObject.getDefaultInstance());
+            cmvr.msgs.AgvUtils.AgvMapObject.getDefaultInstance());
       }
       /**
        * 
@@ -11636,10 +11826,10 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
-      public cmvr.msgs.Agv.AgvMapObject.Builder addObjectsBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapObject.Builder addObjectsBuilder(
           int index) {
         return getObjectsFieldBuilder().addBuilder(
-            index, cmvr.msgs.Agv.AgvMapObject.getDefaultInstance());
+            index, cmvr.msgs.AgvUtils.AgvMapObject.getDefaultInstance());
       }
       /**
        * 
@@ -11648,16 +11838,16 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 8;
        */
-      public java.util.List 
+      public java.util.List 
            getObjectsBuilderList() {
         return getObjectsFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapObject, cmvr.msgs.Agv.AgvMapObject.Builder, cmvr.msgs.Agv.AgvMapObjectOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvMapObject, cmvr.msgs.AgvUtils.AgvMapObject.Builder, cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder> 
           getObjectsFieldBuilder() {
         if (objectsBuilder_ == null) {
           objectsBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              cmvr.msgs.Agv.AgvMapObject, cmvr.msgs.Agv.AgvMapObject.Builder, cmvr.msgs.Agv.AgvMapObjectOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvMapObject, cmvr.msgs.AgvUtils.AgvMapObject.Builder, cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder>(
                   objects_,
                   ((bitField0_ & 0x00000002) != 0),
                   getParentForChildren(),
@@ -11683,12 +11873,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvUnifiedMap2D)
-    private static final cmvr.msgs.Agv.AgvUnifiedMap2D DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvUnifiedMap2D DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvUnifiedMap2D();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvUnifiedMap2D();
     }
 
-    public static cmvr.msgs.Agv.AgvUnifiedMap2D getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap2D getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -11724,7 +11914,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvUnifiedMap2D getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvUnifiedMap2D getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -11827,15 +12017,15 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPointSample3D_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPointSample3D_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPointSample3D_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPointSample3D_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvMapPointSample3D.class, cmvr.msgs.Agv.AgvMapPointSample3D.Builder.class);
+              cmvr.msgs.AgvUtils.AgvMapPointSample3D.class, cmvr.msgs.AgvUtils.AgvMapPointSample3D.Builder.class);
     }
 
     public static final int X_FIELD_NUMBER = 1;
@@ -12003,10 +12193,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvMapPointSample3D)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvMapPointSample3D)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvMapPointSample3D other = (cmvr.msgs.Agv.AgvMapPointSample3D) obj;
+      cmvr.msgs.AgvUtils.AgvMapPointSample3D other = (cmvr.msgs.AgvUtils.AgvMapPointSample3D) obj;
 
       if (java.lang.Double.doubleToLongBits(getX())
           != java.lang.Double.doubleToLongBits(
@@ -12058,69 +12248,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvMapPointSample3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapPointSample3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPointSample3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapPointSample3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPointSample3D parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapPointSample3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPointSample3D parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapPointSample3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPointSample3D parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapPointSample3D parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPointSample3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapPointSample3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -12133,7 +12323,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvMapPointSample3D prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvMapPointSample3D prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -12158,21 +12348,21 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvMapPointSample3D)
-        cmvr.msgs.Agv.AgvMapPointSample3DOrBuilder {
+        cmvr.msgs.AgvUtils.AgvMapPointSample3DOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPointSample3D_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPointSample3D_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPointSample3D_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPointSample3D_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvMapPointSample3D.class, cmvr.msgs.Agv.AgvMapPointSample3D.Builder.class);
+                cmvr.msgs.AgvUtils.AgvMapPointSample3D.class, cmvr.msgs.AgvUtils.AgvMapPointSample3D.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvMapPointSample3D.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvMapPointSample3D.newBuilder()
       private Builder() {
 
       }
@@ -12203,17 +12393,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPointSample3D_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPointSample3D_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapPointSample3D getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvMapPointSample3D.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvMapPointSample3D getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvMapPointSample3D.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapPointSample3D build() {
-        cmvr.msgs.Agv.AgvMapPointSample3D result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvMapPointSample3D build() {
+        cmvr.msgs.AgvUtils.AgvMapPointSample3D result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -12221,8 +12411,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapPointSample3D buildPartial() {
-        cmvr.msgs.Agv.AgvMapPointSample3D result = new cmvr.msgs.Agv.AgvMapPointSample3D(this);
+      public cmvr.msgs.AgvUtils.AgvMapPointSample3D buildPartial() {
+        cmvr.msgs.AgvUtils.AgvMapPointSample3D result = new cmvr.msgs.AgvUtils.AgvMapPointSample3D(this);
         result.x_ = x_;
         result.y_ = y_;
         result.z_ = z_;
@@ -12267,16 +12457,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvMapPointSample3D) {
-          return mergeFrom((cmvr.msgs.Agv.AgvMapPointSample3D)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvMapPointSample3D) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvMapPointSample3D)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvMapPointSample3D other) {
-        if (other == cmvr.msgs.Agv.AgvMapPointSample3D.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvMapPointSample3D other) {
+        if (other == cmvr.msgs.AgvUtils.AgvMapPointSample3D.getDefaultInstance()) return this;
         if (other.getX() != 0D) {
           setX(other.getX());
         }
@@ -12641,12 +12831,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvMapPointSample3D)
-    private static final cmvr.msgs.Agv.AgvMapPointSample3D DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvMapPointSample3D DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvMapPointSample3D();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvMapPointSample3D();
     }
 
-    public static cmvr.msgs.Agv.AgvMapPointSample3D getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvMapPointSample3D getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -12682,7 +12872,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPointSample3D getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvMapPointSample3D getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -12765,15 +12955,15 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapVoxel3D_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapVoxel3D_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapVoxel3D_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapVoxel3D_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvMapVoxel3D.class, cmvr.msgs.Agv.AgvMapVoxel3D.Builder.class);
+              cmvr.msgs.AgvUtils.AgvMapVoxel3D.class, cmvr.msgs.AgvUtils.AgvMapVoxel3D.Builder.class);
     }
 
     public static final int X_FIELD_NUMBER = 1;
@@ -12897,10 +13087,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvMapVoxel3D)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvMapVoxel3D)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvMapVoxel3D other = (cmvr.msgs.Agv.AgvMapVoxel3D) obj;
+      cmvr.msgs.AgvUtils.AgvMapVoxel3D other = (cmvr.msgs.AgvUtils.AgvMapVoxel3D) obj;
 
       if (getX()
           != other.getX()) return false;
@@ -12936,69 +13126,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvMapVoxel3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapVoxel3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapVoxel3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapVoxel3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapVoxel3D parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapVoxel3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapVoxel3D parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapVoxel3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapVoxel3D parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapVoxel3D parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapVoxel3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapVoxel3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -13011,7 +13201,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvMapVoxel3D prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvMapVoxel3D prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -13036,21 +13226,21 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvMapVoxel3D)
-        cmvr.msgs.Agv.AgvMapVoxel3DOrBuilder {
+        cmvr.msgs.AgvUtils.AgvMapVoxel3DOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapVoxel3D_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapVoxel3D_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapVoxel3D_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapVoxel3D_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvMapVoxel3D.class, cmvr.msgs.Agv.AgvMapVoxel3D.Builder.class);
+                cmvr.msgs.AgvUtils.AgvMapVoxel3D.class, cmvr.msgs.AgvUtils.AgvMapVoxel3D.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvMapVoxel3D.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvMapVoxel3D.newBuilder()
       private Builder() {
 
       }
@@ -13077,17 +13267,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapVoxel3D_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapVoxel3D_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapVoxel3D getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvMapVoxel3D.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvMapVoxel3D getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvMapVoxel3D.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapVoxel3D build() {
-        cmvr.msgs.Agv.AgvMapVoxel3D result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvMapVoxel3D build() {
+        cmvr.msgs.AgvUtils.AgvMapVoxel3D result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -13095,8 +13285,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapVoxel3D buildPartial() {
-        cmvr.msgs.Agv.AgvMapVoxel3D result = new cmvr.msgs.Agv.AgvMapVoxel3D(this);
+      public cmvr.msgs.AgvUtils.AgvMapVoxel3D buildPartial() {
+        cmvr.msgs.AgvUtils.AgvMapVoxel3D result = new cmvr.msgs.AgvUtils.AgvMapVoxel3D(this);
         result.x_ = x_;
         result.y_ = y_;
         result.z_ = z_;
@@ -13139,16 +13329,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvMapVoxel3D) {
-          return mergeFrom((cmvr.msgs.Agv.AgvMapVoxel3D)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvMapVoxel3D) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvMapVoxel3D)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvMapVoxel3D other) {
-        if (other == cmvr.msgs.Agv.AgvMapVoxel3D.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvMapVoxel3D other) {
+        if (other == cmvr.msgs.AgvUtils.AgvMapVoxel3D.getDefaultInstance()) return this;
         if (other.getX() != 0) {
           setX(other.getX());
         }
@@ -13411,12 +13601,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvMapVoxel3D)
-    private static final cmvr.msgs.Agv.AgvMapVoxel3D DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvMapVoxel3D DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvMapVoxel3D();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvMapVoxel3D();
     }
 
-    public static cmvr.msgs.Agv.AgvMapVoxel3D getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvMapVoxel3D getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -13452,7 +13642,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapVoxel3D getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvMapVoxel3D getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -13479,7 +13669,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvMapPoint3D center = 1;
      * @return The center.
      */
-    cmvr.msgs.Agv.AgvMapPoint3D getCenter();
+    cmvr.msgs.AgvUtils.AgvMapPoint3D getCenter();
     /**
      * 
      * 平面中心点，单位：米。
@@ -13487,7 +13677,7 @@ java.lang.String defaultValue);
      *
      * .cmvr.msgs.AgvMapPoint3D center = 1;
      */
-    cmvr.msgs.Agv.AgvMapPoint3DOrBuilder getCenterOrBuilder();
+    cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder getCenterOrBuilder();
 
     /**
      * 
@@ -13506,7 +13696,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvMapPoint3D normal = 2;
      * @return The normal.
      */
-    cmvr.msgs.Agv.AgvMapPoint3D getNormal();
+    cmvr.msgs.AgvUtils.AgvMapPoint3D getNormal();
     /**
      * 
      * 平面单位法向量。
@@ -13514,7 +13704,7 @@ java.lang.String defaultValue);
      *
      * .cmvr.msgs.AgvMapPoint3D normal = 2;
      */
-    cmvr.msgs.Agv.AgvMapPoint3DOrBuilder getNormalOrBuilder();
+    cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder getNormalOrBuilder();
 
     /**
      * 
@@ -13570,19 +13760,19 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPlane3D_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPlane3D_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPlane3D_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPlane3D_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvMapPlane3D.class, cmvr.msgs.Agv.AgvMapPlane3D.Builder.class);
+              cmvr.msgs.AgvUtils.AgvMapPlane3D.class, cmvr.msgs.AgvUtils.AgvMapPlane3D.Builder.class);
     }
 
     public static final int CENTER_FIELD_NUMBER = 1;
-    private cmvr.msgs.Agv.AgvMapPoint3D center_;
+    private cmvr.msgs.AgvUtils.AgvMapPoint3D center_;
     /**
      * 
      * 平面中心点，单位：米。
@@ -13604,8 +13794,8 @@ java.lang.String defaultValue);
      * @return The center.
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPoint3D getCenter() {
-      return center_ == null ? cmvr.msgs.Agv.AgvMapPoint3D.getDefaultInstance() : center_;
+    public cmvr.msgs.AgvUtils.AgvMapPoint3D getCenter() {
+      return center_ == null ? cmvr.msgs.AgvUtils.AgvMapPoint3D.getDefaultInstance() : center_;
     }
     /**
      * 
@@ -13615,12 +13805,12 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvMapPoint3D center = 1;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPoint3DOrBuilder getCenterOrBuilder() {
+    public cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder getCenterOrBuilder() {
       return getCenter();
     }
 
     public static final int NORMAL_FIELD_NUMBER = 2;
-    private cmvr.msgs.Agv.AgvMapPoint3D normal_;
+    private cmvr.msgs.AgvUtils.AgvMapPoint3D normal_;
     /**
      * 
      * 平面单位法向量。
@@ -13642,8 +13832,8 @@ java.lang.String defaultValue);
      * @return The normal.
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPoint3D getNormal() {
-      return normal_ == null ? cmvr.msgs.Agv.AgvMapPoint3D.getDefaultInstance() : normal_;
+    public cmvr.msgs.AgvUtils.AgvMapPoint3D getNormal() {
+      return normal_ == null ? cmvr.msgs.AgvUtils.AgvMapPoint3D.getDefaultInstance() : normal_;
     }
     /**
      * 
@@ -13653,7 +13843,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvMapPoint3D normal = 2;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPoint3DOrBuilder getNormalOrBuilder() {
+    public cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder getNormalOrBuilder() {
       return getNormal();
     }
 
@@ -13748,10 +13938,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvMapPlane3D)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvMapPlane3D)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvMapPlane3D other = (cmvr.msgs.Agv.AgvMapPlane3D) obj;
+      cmvr.msgs.AgvUtils.AgvMapPlane3D other = (cmvr.msgs.AgvUtils.AgvMapPlane3D) obj;
 
       if (hasCenter() != other.hasCenter()) return false;
       if (hasCenter()) {
@@ -13799,69 +13989,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvMapPlane3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapPlane3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPlane3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapPlane3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPlane3D parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapPlane3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPlane3D parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapPlane3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPlane3D parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapPlane3D parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapPlane3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapPlane3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -13874,7 +14064,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvMapPlane3D prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvMapPlane3D prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -13900,21 +14090,21 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvMapPlane3D)
-        cmvr.msgs.Agv.AgvMapPlane3DOrBuilder {
+        cmvr.msgs.AgvUtils.AgvMapPlane3DOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPlane3D_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPlane3D_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPlane3D_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPlane3D_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvMapPlane3D.class, cmvr.msgs.Agv.AgvMapPlane3D.Builder.class);
+                cmvr.msgs.AgvUtils.AgvMapPlane3D.class, cmvr.msgs.AgvUtils.AgvMapPlane3D.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvMapPlane3D.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvMapPlane3D.newBuilder()
       private Builder() {
 
       }
@@ -13949,17 +14139,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapPlane3D_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapPlane3D_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapPlane3D getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvMapPlane3D.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvMapPlane3D getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvMapPlane3D.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapPlane3D build() {
-        cmvr.msgs.Agv.AgvMapPlane3D result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvMapPlane3D build() {
+        cmvr.msgs.AgvUtils.AgvMapPlane3D result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -13967,8 +14157,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapPlane3D buildPartial() {
-        cmvr.msgs.Agv.AgvMapPlane3D result = new cmvr.msgs.Agv.AgvMapPlane3D(this);
+      public cmvr.msgs.AgvUtils.AgvMapPlane3D buildPartial() {
+        cmvr.msgs.AgvUtils.AgvMapPlane3D result = new cmvr.msgs.AgvUtils.AgvMapPlane3D(this);
         if (centerBuilder_ == null) {
           result.center_ = center_;
         } else {
@@ -14019,16 +14209,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvMapPlane3D) {
-          return mergeFrom((cmvr.msgs.Agv.AgvMapPlane3D)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvMapPlane3D) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvMapPlane3D)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvMapPlane3D other) {
-        if (other == cmvr.msgs.Agv.AgvMapPlane3D.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvMapPlane3D other) {
+        if (other == cmvr.msgs.AgvUtils.AgvMapPlane3D.getDefaultInstance()) return this;
         if (other.hasCenter()) {
           mergeCenter(other.getCenter());
         }
@@ -14107,9 +14297,9 @@ java.lang.String defaultValue);
         return this;
       }
 
-      private cmvr.msgs.Agv.AgvMapPoint3D center_;
+      private cmvr.msgs.AgvUtils.AgvMapPoint3D center_;
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapPoint3D, cmvr.msgs.Agv.AgvMapPoint3D.Builder, cmvr.msgs.Agv.AgvMapPoint3DOrBuilder> centerBuilder_;
+          cmvr.msgs.AgvUtils.AgvMapPoint3D, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder, cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder> centerBuilder_;
       /**
        * 
        * 平面中心点，单位：米。
@@ -14129,9 +14319,9 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvMapPoint3D center = 1;
        * @return The center.
        */
-      public cmvr.msgs.Agv.AgvMapPoint3D getCenter() {
+      public cmvr.msgs.AgvUtils.AgvMapPoint3D getCenter() {
         if (centerBuilder_ == null) {
-          return center_ == null ? cmvr.msgs.Agv.AgvMapPoint3D.getDefaultInstance() : center_;
+          return center_ == null ? cmvr.msgs.AgvUtils.AgvMapPoint3D.getDefaultInstance() : center_;
         } else {
           return centerBuilder_.getMessage();
         }
@@ -14143,7 +14333,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvMapPoint3D center = 1;
        */
-      public Builder setCenter(cmvr.msgs.Agv.AgvMapPoint3D value) {
+      public Builder setCenter(cmvr.msgs.AgvUtils.AgvMapPoint3D value) {
         if (centerBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -14164,7 +14354,7 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvMapPoint3D center = 1;
        */
       public Builder setCenter(
-          cmvr.msgs.Agv.AgvMapPoint3D.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder builderForValue) {
         if (centerBuilder_ == null) {
           center_ = builderForValue.build();
           onChanged();
@@ -14181,11 +14371,11 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvMapPoint3D center = 1;
        */
-      public Builder mergeCenter(cmvr.msgs.Agv.AgvMapPoint3D value) {
+      public Builder mergeCenter(cmvr.msgs.AgvUtils.AgvMapPoint3D value) {
         if (centerBuilder_ == null) {
           if (center_ != null) {
             center_ =
-              cmvr.msgs.Agv.AgvMapPoint3D.newBuilder(center_).mergeFrom(value).buildPartial();
+              cmvr.msgs.AgvUtils.AgvMapPoint3D.newBuilder(center_).mergeFrom(value).buildPartial();
           } else {
             center_ = value;
           }
@@ -14221,7 +14411,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvMapPoint3D center = 1;
        */
-      public cmvr.msgs.Agv.AgvMapPoint3D.Builder getCenterBuilder() {
+      public cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder getCenterBuilder() {
         
         onChanged();
         return getCenterFieldBuilder().getBuilder();
@@ -14233,12 +14423,12 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvMapPoint3D center = 1;
        */
-      public cmvr.msgs.Agv.AgvMapPoint3DOrBuilder getCenterOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder getCenterOrBuilder() {
         if (centerBuilder_ != null) {
           return centerBuilder_.getMessageOrBuilder();
         } else {
           return center_ == null ?
-              cmvr.msgs.Agv.AgvMapPoint3D.getDefaultInstance() : center_;
+              cmvr.msgs.AgvUtils.AgvMapPoint3D.getDefaultInstance() : center_;
         }
       }
       /**
@@ -14249,11 +14439,11 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvMapPoint3D center = 1;
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapPoint3D, cmvr.msgs.Agv.AgvMapPoint3D.Builder, cmvr.msgs.Agv.AgvMapPoint3DOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvMapPoint3D, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder, cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder> 
           getCenterFieldBuilder() {
         if (centerBuilder_ == null) {
           centerBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.msgs.Agv.AgvMapPoint3D, cmvr.msgs.Agv.AgvMapPoint3D.Builder, cmvr.msgs.Agv.AgvMapPoint3DOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvMapPoint3D, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder, cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder>(
                   getCenter(),
                   getParentForChildren(),
                   isClean());
@@ -14262,9 +14452,9 @@ java.lang.String defaultValue);
         return centerBuilder_;
       }
 
-      private cmvr.msgs.Agv.AgvMapPoint3D normal_;
+      private cmvr.msgs.AgvUtils.AgvMapPoint3D normal_;
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapPoint3D, cmvr.msgs.Agv.AgvMapPoint3D.Builder, cmvr.msgs.Agv.AgvMapPoint3DOrBuilder> normalBuilder_;
+          cmvr.msgs.AgvUtils.AgvMapPoint3D, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder, cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder> normalBuilder_;
       /**
        * 
        * 平面单位法向量。
@@ -14284,9 +14474,9 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvMapPoint3D normal = 2;
        * @return The normal.
        */
-      public cmvr.msgs.Agv.AgvMapPoint3D getNormal() {
+      public cmvr.msgs.AgvUtils.AgvMapPoint3D getNormal() {
         if (normalBuilder_ == null) {
-          return normal_ == null ? cmvr.msgs.Agv.AgvMapPoint3D.getDefaultInstance() : normal_;
+          return normal_ == null ? cmvr.msgs.AgvUtils.AgvMapPoint3D.getDefaultInstance() : normal_;
         } else {
           return normalBuilder_.getMessage();
         }
@@ -14298,7 +14488,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvMapPoint3D normal = 2;
        */
-      public Builder setNormal(cmvr.msgs.Agv.AgvMapPoint3D value) {
+      public Builder setNormal(cmvr.msgs.AgvUtils.AgvMapPoint3D value) {
         if (normalBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -14319,7 +14509,7 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvMapPoint3D normal = 2;
        */
       public Builder setNormal(
-          cmvr.msgs.Agv.AgvMapPoint3D.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder builderForValue) {
         if (normalBuilder_ == null) {
           normal_ = builderForValue.build();
           onChanged();
@@ -14336,11 +14526,11 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvMapPoint3D normal = 2;
        */
-      public Builder mergeNormal(cmvr.msgs.Agv.AgvMapPoint3D value) {
+      public Builder mergeNormal(cmvr.msgs.AgvUtils.AgvMapPoint3D value) {
         if (normalBuilder_ == null) {
           if (normal_ != null) {
             normal_ =
-              cmvr.msgs.Agv.AgvMapPoint3D.newBuilder(normal_).mergeFrom(value).buildPartial();
+              cmvr.msgs.AgvUtils.AgvMapPoint3D.newBuilder(normal_).mergeFrom(value).buildPartial();
           } else {
             normal_ = value;
           }
@@ -14376,7 +14566,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvMapPoint3D normal = 2;
        */
-      public cmvr.msgs.Agv.AgvMapPoint3D.Builder getNormalBuilder() {
+      public cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder getNormalBuilder() {
         
         onChanged();
         return getNormalFieldBuilder().getBuilder();
@@ -14388,12 +14578,12 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvMapPoint3D normal = 2;
        */
-      public cmvr.msgs.Agv.AgvMapPoint3DOrBuilder getNormalOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder getNormalOrBuilder() {
         if (normalBuilder_ != null) {
           return normalBuilder_.getMessageOrBuilder();
         } else {
           return normal_ == null ?
-              cmvr.msgs.Agv.AgvMapPoint3D.getDefaultInstance() : normal_;
+              cmvr.msgs.AgvUtils.AgvMapPoint3D.getDefaultInstance() : normal_;
         }
       }
       /**
@@ -14404,11 +14594,11 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvMapPoint3D normal = 2;
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapPoint3D, cmvr.msgs.Agv.AgvMapPoint3D.Builder, cmvr.msgs.Agv.AgvMapPoint3DOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvMapPoint3D, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder, cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder> 
           getNormalFieldBuilder() {
         if (normalBuilder_ == null) {
           normalBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.msgs.Agv.AgvMapPoint3D, cmvr.msgs.Agv.AgvMapPoint3D.Builder, cmvr.msgs.Agv.AgvMapPoint3DOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvMapPoint3D, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder, cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder>(
                   getNormal(),
                   getParentForChildren(),
                   isClean());
@@ -14519,12 +14709,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvMapPlane3D)
-    private static final cmvr.msgs.Agv.AgvMapPlane3D DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvMapPlane3D DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvMapPlane3D();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvMapPlane3D();
     }
 
-    public static cmvr.msgs.Agv.AgvMapPlane3D getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvMapPlane3D getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -14560,7 +14750,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPlane3D getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvMapPlane3D getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -14607,7 +14797,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvMapObjectType type = 2;
      * @return The type.
      */
-    cmvr.msgs.Agv.AgvMapObjectType getType();
+    cmvr.msgs.AgvUtils.AgvMapObjectType getType();
 
     /**
      * 
@@ -14616,7 +14806,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
      */
-    java.util.List 
+    java.util.List 
         getPointsList();
     /**
      * 
@@ -14625,7 +14815,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
      */
-    cmvr.msgs.Agv.AgvMapPoint3D getPoints(int index);
+    cmvr.msgs.AgvUtils.AgvMapPoint3D getPoints(int index);
     /**
      * 
      * 对象几何点。点对象使用 1 个点，线对象使用多个点，区域对象使用多边形顶点。
@@ -14641,7 +14831,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
      */
-    java.util.List 
+    java.util.List 
         getPointsOrBuilderList();
     /**
      * 
@@ -14650,7 +14840,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
      */
-    cmvr.msgs.Agv.AgvMapPoint3DOrBuilder getPointsOrBuilder(
+    cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder getPointsOrBuilder(
         int index);
 
     /**
@@ -14755,7 +14945,7 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapObject_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapObject_descriptor;
     }
 
     @SuppressWarnings({"rawtypes"})
@@ -14773,9 +14963,9 @@ java.lang.String defaultValue);
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapObject_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapObject_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvMapObject.class, cmvr.msgs.Agv.AgvMapObject.Builder.class);
+              cmvr.msgs.AgvUtils.AgvMapObject.class, cmvr.msgs.AgvUtils.AgvMapObject.Builder.class);
     }
 
     public static final int ID_FIELD_NUMBER = 1;
@@ -14845,14 +15035,14 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvMapObjectType type = 2;
      * @return The type.
      */
-    @java.lang.Override public cmvr.msgs.Agv.AgvMapObjectType getType() {
+    @java.lang.Override public cmvr.msgs.AgvUtils.AgvMapObjectType getType() {
       @SuppressWarnings("deprecation")
-      cmvr.msgs.Agv.AgvMapObjectType result = cmvr.msgs.Agv.AgvMapObjectType.valueOf(type_);
-      return result == null ? cmvr.msgs.Agv.AgvMapObjectType.UNRECOGNIZED : result;
+      cmvr.msgs.AgvUtils.AgvMapObjectType result = cmvr.msgs.AgvUtils.AgvMapObjectType.valueOf(type_);
+      return result == null ? cmvr.msgs.AgvUtils.AgvMapObjectType.UNRECOGNIZED : result;
     }
 
     public static final int POINTS_FIELD_NUMBER = 3;
-    private java.util.List points_;
+    private java.util.List points_;
     /**
      * 
      * 对象几何点。点对象使用 1 个点，线对象使用多个点，区域对象使用多边形顶点。
@@ -14861,7 +15051,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
      */
     @java.lang.Override
-    public java.util.List getPointsList() {
+    public java.util.List getPointsList() {
       return points_;
     }
     /**
@@ -14872,7 +15062,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
      */
     @java.lang.Override
-    public java.util.List 
+    public java.util.List 
         getPointsOrBuilderList() {
       return points_;
     }
@@ -14895,7 +15085,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPoint3D getPoints(int index) {
+    public cmvr.msgs.AgvUtils.AgvMapPoint3D getPoints(int index) {
       return points_.get(index);
     }
     /**
@@ -14906,7 +15096,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPoint3DOrBuilder getPointsOrBuilder(
+    public cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder getPointsOrBuilder(
         int index) {
       return points_.get(index);
     }
@@ -14932,7 +15122,7 @@ java.lang.String defaultValue);
           java.lang.String, java.lang.String> defaultEntry =
               com.google.protobuf.MapEntry
               .newDefaultInstance(
-                  cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapObject_PropertiesEntry_descriptor, 
+                  cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapObject_PropertiesEntry_descriptor, 
                   com.google.protobuf.WireFormat.FieldType.STRING,
                   "",
                   com.google.protobuf.WireFormat.FieldType.STRING,
@@ -15040,7 +15230,7 @@ java.lang.String defaultValue);
       if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(id_)) {
         com.google.protobuf.GeneratedMessageV3.writeString(output, 1, id_);
       }
-      if (type_ != cmvr.msgs.Agv.AgvMapObjectType.AGV_MAP_OBJECT_UNSPECIFIED.getNumber()) {
+      if (type_ != cmvr.msgs.AgvUtils.AgvMapObjectType.AGV_MAP_OBJECT_UNSPECIFIED.getNumber()) {
         output.writeEnum(2, type_);
       }
       for (int i = 0; i < points_.size(); i++) {
@@ -15067,7 +15257,7 @@ java.lang.String defaultValue);
       if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(id_)) {
         size += com.google.protobuf.GeneratedMessageV3.computeStringSize(1, id_);
       }
-      if (type_ != cmvr.msgs.Agv.AgvMapObjectType.AGV_MAP_OBJECT_UNSPECIFIED.getNumber()) {
+      if (type_ != cmvr.msgs.AgvUtils.AgvMapObjectType.AGV_MAP_OBJECT_UNSPECIFIED.getNumber()) {
         size += com.google.protobuf.CodedOutputStream
           .computeEnumSize(2, type_);
       }
@@ -15099,10 +15289,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvMapObject)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvMapObject)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvMapObject other = (cmvr.msgs.Agv.AgvMapObject) obj;
+      cmvr.msgs.AgvUtils.AgvMapObject other = (cmvr.msgs.AgvUtils.AgvMapObject) obj;
 
       if (!getId()
           .equals(other.getId())) return false;
@@ -15145,69 +15335,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvMapObject parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapObject parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapObject parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapObject parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapObject parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapObject parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapObject parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapObject parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapObject parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvMapObject parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvMapObject parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapObject parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapObject parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvMapObject parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapObject parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapObject parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapObject parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvMapObject parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapObject parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapObject parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvMapObject parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapObject parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvMapObject parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvMapObject parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -15220,7 +15410,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvMapObject prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvMapObject prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -15245,10 +15435,10 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvMapObject)
-        cmvr.msgs.Agv.AgvMapObjectOrBuilder {
+        cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapObject_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapObject_descriptor;
       }
 
       @SuppressWarnings({"rawtypes"})
@@ -15276,12 +15466,12 @@ java.lang.String defaultValue);
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapObject_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapObject_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvMapObject.class, cmvr.msgs.Agv.AgvMapObject.Builder.class);
+                cmvr.msgs.AgvUtils.AgvMapObject.class, cmvr.msgs.AgvUtils.AgvMapObject.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvMapObject.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvMapObject.newBuilder()
       private Builder() {
 
       }
@@ -15314,17 +15504,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvMapObject_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvMapObject_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapObject getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvMapObject.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvMapObject getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvMapObject.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapObject build() {
-        cmvr.msgs.Agv.AgvMapObject result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvMapObject build() {
+        cmvr.msgs.AgvUtils.AgvMapObject result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -15332,8 +15522,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapObject buildPartial() {
-        cmvr.msgs.Agv.AgvMapObject result = new cmvr.msgs.Agv.AgvMapObject(this);
+      public cmvr.msgs.AgvUtils.AgvMapObject buildPartial() {
+        cmvr.msgs.AgvUtils.AgvMapObject result = new cmvr.msgs.AgvUtils.AgvMapObject(this);
         int from_bitField0_ = bitField0_;
         result.id_ = id_;
         result.type_ = type_;
@@ -15387,16 +15577,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvMapObject) {
-          return mergeFrom((cmvr.msgs.Agv.AgvMapObject)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvMapObject) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvMapObject)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvMapObject other) {
-        if (other == cmvr.msgs.Agv.AgvMapObject.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvMapObject other) {
+        if (other == cmvr.msgs.AgvUtils.AgvMapObject.getDefaultInstance()) return this;
         if (!other.getId().isEmpty()) {
           id_ = other.id_;
           onChanged();
@@ -15472,9 +15662,9 @@ java.lang.String defaultValue);
                 break;
               } // case 16
               case 26: {
-                cmvr.msgs.Agv.AgvMapPoint3D m =
+                cmvr.msgs.AgvUtils.AgvMapPoint3D m =
                     input.readMessage(
-                        cmvr.msgs.Agv.AgvMapPoint3D.parser(),
+                        cmvr.msgs.AgvUtils.AgvMapPoint3D.parser(),
                         extensionRegistry);
                 if (pointsBuilder_ == null) {
                   ensurePointsIsMutable();
@@ -15646,10 +15836,10 @@ java.lang.String defaultValue);
        * @return The type.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapObjectType getType() {
+      public cmvr.msgs.AgvUtils.AgvMapObjectType getType() {
         @SuppressWarnings("deprecation")
-        cmvr.msgs.Agv.AgvMapObjectType result = cmvr.msgs.Agv.AgvMapObjectType.valueOf(type_);
-        return result == null ? cmvr.msgs.Agv.AgvMapObjectType.UNRECOGNIZED : result;
+        cmvr.msgs.AgvUtils.AgvMapObjectType result = cmvr.msgs.AgvUtils.AgvMapObjectType.valueOf(type_);
+        return result == null ? cmvr.msgs.AgvUtils.AgvMapObjectType.UNRECOGNIZED : result;
       }
       /**
        * 
@@ -15660,7 +15850,7 @@ java.lang.String defaultValue);
        * @param value The type to set.
        * @return This builder for chaining.
        */
-      public Builder setType(cmvr.msgs.Agv.AgvMapObjectType value) {
+      public Builder setType(cmvr.msgs.AgvUtils.AgvMapObjectType value) {
         if (value == null) {
           throw new NullPointerException();
         }
@@ -15684,17 +15874,17 @@ java.lang.String defaultValue);
         return this;
       }
 
-      private java.util.List points_ =
+      private java.util.List points_ =
         java.util.Collections.emptyList();
       private void ensurePointsIsMutable() {
         if (!((bitField0_ & 0x00000001) != 0)) {
-          points_ = new java.util.ArrayList(points_);
+          points_ = new java.util.ArrayList(points_);
           bitField0_ |= 0x00000001;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapPoint3D, cmvr.msgs.Agv.AgvMapPoint3D.Builder, cmvr.msgs.Agv.AgvMapPoint3DOrBuilder> pointsBuilder_;
+          cmvr.msgs.AgvUtils.AgvMapPoint3D, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder, cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder> pointsBuilder_;
 
       /**
        * 
@@ -15703,7 +15893,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
-      public java.util.List getPointsList() {
+      public java.util.List getPointsList() {
         if (pointsBuilder_ == null) {
           return java.util.Collections.unmodifiableList(points_);
         } else {
@@ -15731,7 +15921,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
-      public cmvr.msgs.Agv.AgvMapPoint3D getPoints(int index) {
+      public cmvr.msgs.AgvUtils.AgvMapPoint3D getPoints(int index) {
         if (pointsBuilder_ == null) {
           return points_.get(index);
         } else {
@@ -15746,7 +15936,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
       public Builder setPoints(
-          int index, cmvr.msgs.Agv.AgvMapPoint3D value) {
+          int index, cmvr.msgs.AgvUtils.AgvMapPoint3D value) {
         if (pointsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -15767,7 +15957,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
       public Builder setPoints(
-          int index, cmvr.msgs.Agv.AgvMapPoint3D.Builder builderForValue) {
+          int index, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder builderForValue) {
         if (pointsBuilder_ == null) {
           ensurePointsIsMutable();
           points_.set(index, builderForValue.build());
@@ -15784,7 +15974,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
-      public Builder addPoints(cmvr.msgs.Agv.AgvMapPoint3D value) {
+      public Builder addPoints(cmvr.msgs.AgvUtils.AgvMapPoint3D value) {
         if (pointsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -15805,7 +15995,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
       public Builder addPoints(
-          int index, cmvr.msgs.Agv.AgvMapPoint3D value) {
+          int index, cmvr.msgs.AgvUtils.AgvMapPoint3D value) {
         if (pointsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -15826,7 +16016,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
       public Builder addPoints(
-          cmvr.msgs.Agv.AgvMapPoint3D.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder builderForValue) {
         if (pointsBuilder_ == null) {
           ensurePointsIsMutable();
           points_.add(builderForValue.build());
@@ -15844,7 +16034,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
       public Builder addPoints(
-          int index, cmvr.msgs.Agv.AgvMapPoint3D.Builder builderForValue) {
+          int index, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder builderForValue) {
         if (pointsBuilder_ == null) {
           ensurePointsIsMutable();
           points_.add(index, builderForValue.build());
@@ -15862,7 +16052,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
       public Builder addAllPoints(
-          java.lang.Iterable values) {
+          java.lang.Iterable values) {
         if (pointsBuilder_ == null) {
           ensurePointsIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -15914,7 +16104,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
-      public cmvr.msgs.Agv.AgvMapPoint3D.Builder getPointsBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder getPointsBuilder(
           int index) {
         return getPointsFieldBuilder().getBuilder(index);
       }
@@ -15925,7 +16115,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
-      public cmvr.msgs.Agv.AgvMapPoint3DOrBuilder getPointsOrBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder getPointsOrBuilder(
           int index) {
         if (pointsBuilder_ == null) {
           return points_.get(index);  } else {
@@ -15939,7 +16129,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
-      public java.util.List 
+      public java.util.List 
            getPointsOrBuilderList() {
         if (pointsBuilder_ != null) {
           return pointsBuilder_.getMessageOrBuilderList();
@@ -15954,9 +16144,9 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
-      public cmvr.msgs.Agv.AgvMapPoint3D.Builder addPointsBuilder() {
+      public cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder addPointsBuilder() {
         return getPointsFieldBuilder().addBuilder(
-            cmvr.msgs.Agv.AgvMapPoint3D.getDefaultInstance());
+            cmvr.msgs.AgvUtils.AgvMapPoint3D.getDefaultInstance());
       }
       /**
        * 
@@ -15965,10 +16155,10 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
-      public cmvr.msgs.Agv.AgvMapPoint3D.Builder addPointsBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder addPointsBuilder(
           int index) {
         return getPointsFieldBuilder().addBuilder(
-            index, cmvr.msgs.Agv.AgvMapPoint3D.getDefaultInstance());
+            index, cmvr.msgs.AgvUtils.AgvMapPoint3D.getDefaultInstance());
       }
       /**
        * 
@@ -15977,16 +16167,16 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPoint3D points = 3;
        */
-      public java.util.List 
+      public java.util.List 
            getPointsBuilderList() {
         return getPointsFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapPoint3D, cmvr.msgs.Agv.AgvMapPoint3D.Builder, cmvr.msgs.Agv.AgvMapPoint3DOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvMapPoint3D, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder, cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder> 
           getPointsFieldBuilder() {
         if (pointsBuilder_ == null) {
           pointsBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              cmvr.msgs.Agv.AgvMapPoint3D, cmvr.msgs.Agv.AgvMapPoint3D.Builder, cmvr.msgs.Agv.AgvMapPoint3DOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvMapPoint3D, cmvr.msgs.AgvUtils.AgvMapPoint3D.Builder, cmvr.msgs.AgvUtils.AgvMapPoint3DOrBuilder>(
                   points_,
                   ((bitField0_ & 0x00000001) != 0),
                   getParentForChildren(),
@@ -16214,12 +16404,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvMapObject)
-    private static final cmvr.msgs.Agv.AgvMapObject DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvMapObject DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvMapObject();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvMapObject();
     }
 
-    public static cmvr.msgs.Agv.AgvMapObject getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvMapObject getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -16255,7 +16445,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapObject getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvMapObject getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -16312,7 +16502,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
      */
-    java.util.List 
+    java.util.List 
         getPointsList();
     /**
      * 
@@ -16321,7 +16511,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
      */
-    cmvr.msgs.Agv.AgvMapPointSample3D getPoints(int index);
+    cmvr.msgs.AgvUtils.AgvMapPointSample3D getPoints(int index);
     /**
      * 
      * 统一点云点样本。
@@ -16337,7 +16527,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
      */
-    java.util.List 
+    java.util.List 
         getPointsOrBuilderList();
     /**
      * 
@@ -16346,7 +16536,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
      */
-    cmvr.msgs.Agv.AgvMapPointSample3DOrBuilder getPointsOrBuilder(
+    cmvr.msgs.AgvUtils.AgvMapPointSample3DOrBuilder getPointsOrBuilder(
         int index);
 
     /**
@@ -16356,7 +16546,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
      */
-    java.util.List 
+    java.util.List 
         getVoxelsList();
     /**
      * 
@@ -16365,7 +16555,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
      */
-    cmvr.msgs.Agv.AgvMapVoxel3D getVoxels(int index);
+    cmvr.msgs.AgvUtils.AgvMapVoxel3D getVoxels(int index);
     /**
      * 
      * 统一占据体素。
@@ -16381,7 +16571,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
      */
-    java.util.List 
+    java.util.List 
         getVoxelsOrBuilderList();
     /**
      * 
@@ -16390,7 +16580,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
      */
-    cmvr.msgs.Agv.AgvMapVoxel3DOrBuilder getVoxelsOrBuilder(
+    cmvr.msgs.AgvUtils.AgvMapVoxel3DOrBuilder getVoxelsOrBuilder(
         int index);
 
     /**
@@ -16400,7 +16590,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
      */
-    java.util.List 
+    java.util.List 
         getPlanesList();
     /**
      * 
@@ -16409,7 +16599,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
      */
-    cmvr.msgs.Agv.AgvMapPlane3D getPlanes(int index);
+    cmvr.msgs.AgvUtils.AgvMapPlane3D getPlanes(int index);
     /**
      * 
      * 统一平面特征。
@@ -16425,7 +16615,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
      */
-    java.util.List 
+    java.util.List 
         getPlanesOrBuilderList();
     /**
      * 
@@ -16434,7 +16624,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
      */
-    cmvr.msgs.Agv.AgvMapPlane3DOrBuilder getPlanesOrBuilder(
+    cmvr.msgs.AgvUtils.AgvMapPlane3DOrBuilder getPlanesOrBuilder(
         int index);
 
     /**
@@ -16444,7 +16634,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapObject objects = 7;
      */
-    java.util.List 
+    java.util.List 
         getObjectsList();
     /**
      * 
@@ -16453,7 +16643,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapObject objects = 7;
      */
-    cmvr.msgs.Agv.AgvMapObject getObjects(int index);
+    cmvr.msgs.AgvUtils.AgvMapObject getObjects(int index);
     /**
      * 
      * 统一 3D 语义对象，例如站点、区域、标签、地标等。
@@ -16469,7 +16659,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapObject objects = 7;
      */
-    java.util.List 
+    java.util.List 
         getObjectsOrBuilderList();
     /**
      * 
@@ -16478,7 +16668,7 @@ java.lang.String defaultValue);
      *
      * repeated .cmvr.msgs.AgvMapObject objects = 7;
      */
-    cmvr.msgs.Agv.AgvMapObjectOrBuilder getObjectsOrBuilder(
+    cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder getObjectsOrBuilder(
         int index);
   }
   /**
@@ -16520,15 +16710,15 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMap3D_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMap3D_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMap3D_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMap3D_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvUnifiedMap3D.class, cmvr.msgs.Agv.AgvUnifiedMap3D.Builder.class);
+              cmvr.msgs.AgvUtils.AgvUnifiedMap3D.class, cmvr.msgs.AgvUtils.AgvUnifiedMap3D.Builder.class);
     }
 
     public static final int FRAME_ID_FIELD_NUMBER = 1;
@@ -16608,7 +16798,7 @@ java.lang.String defaultValue);
     }
 
     public static final int POINTS_FIELD_NUMBER = 4;
-    private java.util.List points_;
+    private java.util.List points_;
     /**
      * 
      * 统一点云点样本。
@@ -16617,7 +16807,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
      */
     @java.lang.Override
-    public java.util.List getPointsList() {
+    public java.util.List getPointsList() {
       return points_;
     }
     /**
@@ -16628,7 +16818,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
      */
     @java.lang.Override
-    public java.util.List 
+    public java.util.List 
         getPointsOrBuilderList() {
       return points_;
     }
@@ -16651,7 +16841,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPointSample3D getPoints(int index) {
+    public cmvr.msgs.AgvUtils.AgvMapPointSample3D getPoints(int index) {
       return points_.get(index);
     }
     /**
@@ -16662,13 +16852,13 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPointSample3DOrBuilder getPointsOrBuilder(
+    public cmvr.msgs.AgvUtils.AgvMapPointSample3DOrBuilder getPointsOrBuilder(
         int index) {
       return points_.get(index);
     }
 
     public static final int VOXELS_FIELD_NUMBER = 5;
-    private java.util.List voxels_;
+    private java.util.List voxels_;
     /**
      * 
      * 统一占据体素。
@@ -16677,7 +16867,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
      */
     @java.lang.Override
-    public java.util.List getVoxelsList() {
+    public java.util.List getVoxelsList() {
       return voxels_;
     }
     /**
@@ -16688,7 +16878,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
      */
     @java.lang.Override
-    public java.util.List 
+    public java.util.List 
         getVoxelsOrBuilderList() {
       return voxels_;
     }
@@ -16711,7 +16901,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapVoxel3D getVoxels(int index) {
+    public cmvr.msgs.AgvUtils.AgvMapVoxel3D getVoxels(int index) {
       return voxels_.get(index);
     }
     /**
@@ -16722,13 +16912,13 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapVoxel3DOrBuilder getVoxelsOrBuilder(
+    public cmvr.msgs.AgvUtils.AgvMapVoxel3DOrBuilder getVoxelsOrBuilder(
         int index) {
       return voxels_.get(index);
     }
 
     public static final int PLANES_FIELD_NUMBER = 6;
-    private java.util.List planes_;
+    private java.util.List planes_;
     /**
      * 
      * 统一平面特征。
@@ -16737,7 +16927,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
      */
     @java.lang.Override
-    public java.util.List getPlanesList() {
+    public java.util.List getPlanesList() {
       return planes_;
     }
     /**
@@ -16748,7 +16938,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
      */
     @java.lang.Override
-    public java.util.List 
+    public java.util.List 
         getPlanesOrBuilderList() {
       return planes_;
     }
@@ -16771,7 +16961,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPlane3D getPlanes(int index) {
+    public cmvr.msgs.AgvUtils.AgvMapPlane3D getPlanes(int index) {
       return planes_.get(index);
     }
     /**
@@ -16782,13 +16972,13 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapPlane3DOrBuilder getPlanesOrBuilder(
+    public cmvr.msgs.AgvUtils.AgvMapPlane3DOrBuilder getPlanesOrBuilder(
         int index) {
       return planes_.get(index);
     }
 
     public static final int OBJECTS_FIELD_NUMBER = 7;
-    private java.util.List objects_;
+    private java.util.List objects_;
     /**
      * 
      * 统一 3D 语义对象，例如站点、区域、标签、地标等。
@@ -16797,7 +16987,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapObject objects = 7;
      */
     @java.lang.Override
-    public java.util.List getObjectsList() {
+    public java.util.List getObjectsList() {
       return objects_;
     }
     /**
@@ -16808,7 +16998,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapObject objects = 7;
      */
     @java.lang.Override
-    public java.util.List 
+    public java.util.List 
         getObjectsOrBuilderList() {
       return objects_;
     }
@@ -16831,7 +17021,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapObject objects = 7;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapObject getObjects(int index) {
+    public cmvr.msgs.AgvUtils.AgvMapObject getObjects(int index) {
       return objects_.get(index);
     }
     /**
@@ -16842,7 +17032,7 @@ java.lang.String defaultValue);
      * repeated .cmvr.msgs.AgvMapObject objects = 7;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvMapObjectOrBuilder getObjectsOrBuilder(
+    public cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder getObjectsOrBuilder(
         int index) {
       return objects_.get(index);
     }
@@ -16928,10 +17118,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvUnifiedMap3D)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvUnifiedMap3D)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvUnifiedMap3D other = (cmvr.msgs.Agv.AgvUnifiedMap3D) obj;
+      cmvr.msgs.AgvUtils.AgvUnifiedMap3D other = (cmvr.msgs.AgvUtils.AgvUnifiedMap3D) obj;
 
       if (!getFrameId()
           .equals(other.getFrameId())) return false;
@@ -16989,69 +17179,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -17064,7 +17254,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvUnifiedMap3D prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvUnifiedMap3D prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -17090,21 +17280,21 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvUnifiedMap3D)
-        cmvr.msgs.Agv.AgvUnifiedMap3DOrBuilder {
+        cmvr.msgs.AgvUtils.AgvUnifiedMap3DOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMap3D_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMap3D_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMap3D_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMap3D_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvUnifiedMap3D.class, cmvr.msgs.Agv.AgvUnifiedMap3D.Builder.class);
+                cmvr.msgs.AgvUtils.AgvUnifiedMap3D.class, cmvr.msgs.AgvUtils.AgvUnifiedMap3D.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvUnifiedMap3D.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvUnifiedMap3D.newBuilder()
       private Builder() {
 
       }
@@ -17157,17 +17347,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMap3D_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMap3D_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMap3D getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvUnifiedMap3D.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvUnifiedMap3D getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvUnifiedMap3D.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMap3D build() {
-        cmvr.msgs.Agv.AgvUnifiedMap3D result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvUnifiedMap3D build() {
+        cmvr.msgs.AgvUtils.AgvUnifiedMap3D result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -17175,8 +17365,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMap3D buildPartial() {
-        cmvr.msgs.Agv.AgvUnifiedMap3D result = new cmvr.msgs.Agv.AgvUnifiedMap3D(this);
+      public cmvr.msgs.AgvUtils.AgvUnifiedMap3D buildPartial() {
+        cmvr.msgs.AgvUtils.AgvUnifiedMap3D result = new cmvr.msgs.AgvUtils.AgvUnifiedMap3D(this);
         int from_bitField0_ = bitField0_;
         result.frameId_ = frameId_;
         result.timestamp_ = timestamp_;
@@ -17255,16 +17445,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvUnifiedMap3D) {
-          return mergeFrom((cmvr.msgs.Agv.AgvUnifiedMap3D)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvUnifiedMap3D) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvUnifiedMap3D)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvUnifiedMap3D other) {
-        if (other == cmvr.msgs.Agv.AgvUnifiedMap3D.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvUnifiedMap3D other) {
+        if (other == cmvr.msgs.AgvUtils.AgvUnifiedMap3D.getDefaultInstance()) return this;
         if (!other.getFrameId().isEmpty()) {
           frameId_ = other.frameId_;
           onChanged();
@@ -17421,9 +17611,9 @@ java.lang.String defaultValue);
                 break;
               } // case 25
               case 34: {
-                cmvr.msgs.Agv.AgvMapPointSample3D m =
+                cmvr.msgs.AgvUtils.AgvMapPointSample3D m =
                     input.readMessage(
-                        cmvr.msgs.Agv.AgvMapPointSample3D.parser(),
+                        cmvr.msgs.AgvUtils.AgvMapPointSample3D.parser(),
                         extensionRegistry);
                 if (pointsBuilder_ == null) {
                   ensurePointsIsMutable();
@@ -17434,9 +17624,9 @@ java.lang.String defaultValue);
                 break;
               } // case 34
               case 42: {
-                cmvr.msgs.Agv.AgvMapVoxel3D m =
+                cmvr.msgs.AgvUtils.AgvMapVoxel3D m =
                     input.readMessage(
-                        cmvr.msgs.Agv.AgvMapVoxel3D.parser(),
+                        cmvr.msgs.AgvUtils.AgvMapVoxel3D.parser(),
                         extensionRegistry);
                 if (voxelsBuilder_ == null) {
                   ensureVoxelsIsMutable();
@@ -17447,9 +17637,9 @@ java.lang.String defaultValue);
                 break;
               } // case 42
               case 50: {
-                cmvr.msgs.Agv.AgvMapPlane3D m =
+                cmvr.msgs.AgvUtils.AgvMapPlane3D m =
                     input.readMessage(
-                        cmvr.msgs.Agv.AgvMapPlane3D.parser(),
+                        cmvr.msgs.AgvUtils.AgvMapPlane3D.parser(),
                         extensionRegistry);
                 if (planesBuilder_ == null) {
                   ensurePlanesIsMutable();
@@ -17460,9 +17650,9 @@ java.lang.String defaultValue);
                 break;
               } // case 50
               case 58: {
-                cmvr.msgs.Agv.AgvMapObject m =
+                cmvr.msgs.AgvUtils.AgvMapObject m =
                     input.readMessage(
-                        cmvr.msgs.Agv.AgvMapObject.parser(),
+                        cmvr.msgs.AgvUtils.AgvMapObject.parser(),
                         extensionRegistry);
                 if (objectsBuilder_ == null) {
                   ensureObjectsIsMutable();
@@ -17671,17 +17861,17 @@ java.lang.String defaultValue);
         return this;
       }
 
-      private java.util.List points_ =
+      private java.util.List points_ =
         java.util.Collections.emptyList();
       private void ensurePointsIsMutable() {
         if (!((bitField0_ & 0x00000001) != 0)) {
-          points_ = new java.util.ArrayList(points_);
+          points_ = new java.util.ArrayList(points_);
           bitField0_ |= 0x00000001;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapPointSample3D, cmvr.msgs.Agv.AgvMapPointSample3D.Builder, cmvr.msgs.Agv.AgvMapPointSample3DOrBuilder> pointsBuilder_;
+          cmvr.msgs.AgvUtils.AgvMapPointSample3D, cmvr.msgs.AgvUtils.AgvMapPointSample3D.Builder, cmvr.msgs.AgvUtils.AgvMapPointSample3DOrBuilder> pointsBuilder_;
 
       /**
        * 
@@ -17690,7 +17880,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
-      public java.util.List getPointsList() {
+      public java.util.List getPointsList() {
         if (pointsBuilder_ == null) {
           return java.util.Collections.unmodifiableList(points_);
         } else {
@@ -17718,7 +17908,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
-      public cmvr.msgs.Agv.AgvMapPointSample3D getPoints(int index) {
+      public cmvr.msgs.AgvUtils.AgvMapPointSample3D getPoints(int index) {
         if (pointsBuilder_ == null) {
           return points_.get(index);
         } else {
@@ -17733,7 +17923,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
       public Builder setPoints(
-          int index, cmvr.msgs.Agv.AgvMapPointSample3D value) {
+          int index, cmvr.msgs.AgvUtils.AgvMapPointSample3D value) {
         if (pointsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -17754,7 +17944,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
       public Builder setPoints(
-          int index, cmvr.msgs.Agv.AgvMapPointSample3D.Builder builderForValue) {
+          int index, cmvr.msgs.AgvUtils.AgvMapPointSample3D.Builder builderForValue) {
         if (pointsBuilder_ == null) {
           ensurePointsIsMutable();
           points_.set(index, builderForValue.build());
@@ -17771,7 +17961,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
-      public Builder addPoints(cmvr.msgs.Agv.AgvMapPointSample3D value) {
+      public Builder addPoints(cmvr.msgs.AgvUtils.AgvMapPointSample3D value) {
         if (pointsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -17792,7 +17982,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
       public Builder addPoints(
-          int index, cmvr.msgs.Agv.AgvMapPointSample3D value) {
+          int index, cmvr.msgs.AgvUtils.AgvMapPointSample3D value) {
         if (pointsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -17813,7 +18003,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
       public Builder addPoints(
-          cmvr.msgs.Agv.AgvMapPointSample3D.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvMapPointSample3D.Builder builderForValue) {
         if (pointsBuilder_ == null) {
           ensurePointsIsMutable();
           points_.add(builderForValue.build());
@@ -17831,7 +18021,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
       public Builder addPoints(
-          int index, cmvr.msgs.Agv.AgvMapPointSample3D.Builder builderForValue) {
+          int index, cmvr.msgs.AgvUtils.AgvMapPointSample3D.Builder builderForValue) {
         if (pointsBuilder_ == null) {
           ensurePointsIsMutable();
           points_.add(index, builderForValue.build());
@@ -17849,7 +18039,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
       public Builder addAllPoints(
-          java.lang.Iterable values) {
+          java.lang.Iterable values) {
         if (pointsBuilder_ == null) {
           ensurePointsIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -17901,7 +18091,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
-      public cmvr.msgs.Agv.AgvMapPointSample3D.Builder getPointsBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapPointSample3D.Builder getPointsBuilder(
           int index) {
         return getPointsFieldBuilder().getBuilder(index);
       }
@@ -17912,7 +18102,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
-      public cmvr.msgs.Agv.AgvMapPointSample3DOrBuilder getPointsOrBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapPointSample3DOrBuilder getPointsOrBuilder(
           int index) {
         if (pointsBuilder_ == null) {
           return points_.get(index);  } else {
@@ -17926,7 +18116,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
-      public java.util.List 
+      public java.util.List 
            getPointsOrBuilderList() {
         if (pointsBuilder_ != null) {
           return pointsBuilder_.getMessageOrBuilderList();
@@ -17941,9 +18131,9 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
-      public cmvr.msgs.Agv.AgvMapPointSample3D.Builder addPointsBuilder() {
+      public cmvr.msgs.AgvUtils.AgvMapPointSample3D.Builder addPointsBuilder() {
         return getPointsFieldBuilder().addBuilder(
-            cmvr.msgs.Agv.AgvMapPointSample3D.getDefaultInstance());
+            cmvr.msgs.AgvUtils.AgvMapPointSample3D.getDefaultInstance());
       }
       /**
        * 
@@ -17952,10 +18142,10 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
-      public cmvr.msgs.Agv.AgvMapPointSample3D.Builder addPointsBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapPointSample3D.Builder addPointsBuilder(
           int index) {
         return getPointsFieldBuilder().addBuilder(
-            index, cmvr.msgs.Agv.AgvMapPointSample3D.getDefaultInstance());
+            index, cmvr.msgs.AgvUtils.AgvMapPointSample3D.getDefaultInstance());
       }
       /**
        * 
@@ -17964,16 +18154,16 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPointSample3D points = 4;
        */
-      public java.util.List 
+      public java.util.List 
            getPointsBuilderList() {
         return getPointsFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapPointSample3D, cmvr.msgs.Agv.AgvMapPointSample3D.Builder, cmvr.msgs.Agv.AgvMapPointSample3DOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvMapPointSample3D, cmvr.msgs.AgvUtils.AgvMapPointSample3D.Builder, cmvr.msgs.AgvUtils.AgvMapPointSample3DOrBuilder> 
           getPointsFieldBuilder() {
         if (pointsBuilder_ == null) {
           pointsBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              cmvr.msgs.Agv.AgvMapPointSample3D, cmvr.msgs.Agv.AgvMapPointSample3D.Builder, cmvr.msgs.Agv.AgvMapPointSample3DOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvMapPointSample3D, cmvr.msgs.AgvUtils.AgvMapPointSample3D.Builder, cmvr.msgs.AgvUtils.AgvMapPointSample3DOrBuilder>(
                   points_,
                   ((bitField0_ & 0x00000001) != 0),
                   getParentForChildren(),
@@ -17983,17 +18173,17 @@ java.lang.String defaultValue);
         return pointsBuilder_;
       }
 
-      private java.util.List voxels_ =
+      private java.util.List voxels_ =
         java.util.Collections.emptyList();
       private void ensureVoxelsIsMutable() {
         if (!((bitField0_ & 0x00000002) != 0)) {
-          voxels_ = new java.util.ArrayList(voxels_);
+          voxels_ = new java.util.ArrayList(voxels_);
           bitField0_ |= 0x00000002;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapVoxel3D, cmvr.msgs.Agv.AgvMapVoxel3D.Builder, cmvr.msgs.Agv.AgvMapVoxel3DOrBuilder> voxelsBuilder_;
+          cmvr.msgs.AgvUtils.AgvMapVoxel3D, cmvr.msgs.AgvUtils.AgvMapVoxel3D.Builder, cmvr.msgs.AgvUtils.AgvMapVoxel3DOrBuilder> voxelsBuilder_;
 
       /**
        * 
@@ -18002,7 +18192,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
-      public java.util.List getVoxelsList() {
+      public java.util.List getVoxelsList() {
         if (voxelsBuilder_ == null) {
           return java.util.Collections.unmodifiableList(voxels_);
         } else {
@@ -18030,7 +18220,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
-      public cmvr.msgs.Agv.AgvMapVoxel3D getVoxels(int index) {
+      public cmvr.msgs.AgvUtils.AgvMapVoxel3D getVoxels(int index) {
         if (voxelsBuilder_ == null) {
           return voxels_.get(index);
         } else {
@@ -18045,7 +18235,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
       public Builder setVoxels(
-          int index, cmvr.msgs.Agv.AgvMapVoxel3D value) {
+          int index, cmvr.msgs.AgvUtils.AgvMapVoxel3D value) {
         if (voxelsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -18066,7 +18256,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
       public Builder setVoxels(
-          int index, cmvr.msgs.Agv.AgvMapVoxel3D.Builder builderForValue) {
+          int index, cmvr.msgs.AgvUtils.AgvMapVoxel3D.Builder builderForValue) {
         if (voxelsBuilder_ == null) {
           ensureVoxelsIsMutable();
           voxels_.set(index, builderForValue.build());
@@ -18083,7 +18273,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
-      public Builder addVoxels(cmvr.msgs.Agv.AgvMapVoxel3D value) {
+      public Builder addVoxels(cmvr.msgs.AgvUtils.AgvMapVoxel3D value) {
         if (voxelsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -18104,7 +18294,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
       public Builder addVoxels(
-          int index, cmvr.msgs.Agv.AgvMapVoxel3D value) {
+          int index, cmvr.msgs.AgvUtils.AgvMapVoxel3D value) {
         if (voxelsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -18125,7 +18315,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
       public Builder addVoxels(
-          cmvr.msgs.Agv.AgvMapVoxel3D.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvMapVoxel3D.Builder builderForValue) {
         if (voxelsBuilder_ == null) {
           ensureVoxelsIsMutable();
           voxels_.add(builderForValue.build());
@@ -18143,7 +18333,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
       public Builder addVoxels(
-          int index, cmvr.msgs.Agv.AgvMapVoxel3D.Builder builderForValue) {
+          int index, cmvr.msgs.AgvUtils.AgvMapVoxel3D.Builder builderForValue) {
         if (voxelsBuilder_ == null) {
           ensureVoxelsIsMutable();
           voxels_.add(index, builderForValue.build());
@@ -18161,7 +18351,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
       public Builder addAllVoxels(
-          java.lang.Iterable values) {
+          java.lang.Iterable values) {
         if (voxelsBuilder_ == null) {
           ensureVoxelsIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -18213,7 +18403,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
-      public cmvr.msgs.Agv.AgvMapVoxel3D.Builder getVoxelsBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapVoxel3D.Builder getVoxelsBuilder(
           int index) {
         return getVoxelsFieldBuilder().getBuilder(index);
       }
@@ -18224,7 +18414,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
-      public cmvr.msgs.Agv.AgvMapVoxel3DOrBuilder getVoxelsOrBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapVoxel3DOrBuilder getVoxelsOrBuilder(
           int index) {
         if (voxelsBuilder_ == null) {
           return voxels_.get(index);  } else {
@@ -18238,7 +18428,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
-      public java.util.List 
+      public java.util.List 
            getVoxelsOrBuilderList() {
         if (voxelsBuilder_ != null) {
           return voxelsBuilder_.getMessageOrBuilderList();
@@ -18253,9 +18443,9 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
-      public cmvr.msgs.Agv.AgvMapVoxel3D.Builder addVoxelsBuilder() {
+      public cmvr.msgs.AgvUtils.AgvMapVoxel3D.Builder addVoxelsBuilder() {
         return getVoxelsFieldBuilder().addBuilder(
-            cmvr.msgs.Agv.AgvMapVoxel3D.getDefaultInstance());
+            cmvr.msgs.AgvUtils.AgvMapVoxel3D.getDefaultInstance());
       }
       /**
        * 
@@ -18264,10 +18454,10 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
-      public cmvr.msgs.Agv.AgvMapVoxel3D.Builder addVoxelsBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapVoxel3D.Builder addVoxelsBuilder(
           int index) {
         return getVoxelsFieldBuilder().addBuilder(
-            index, cmvr.msgs.Agv.AgvMapVoxel3D.getDefaultInstance());
+            index, cmvr.msgs.AgvUtils.AgvMapVoxel3D.getDefaultInstance());
       }
       /**
        * 
@@ -18276,16 +18466,16 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapVoxel3D voxels = 5;
        */
-      public java.util.List 
+      public java.util.List 
            getVoxelsBuilderList() {
         return getVoxelsFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapVoxel3D, cmvr.msgs.Agv.AgvMapVoxel3D.Builder, cmvr.msgs.Agv.AgvMapVoxel3DOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvMapVoxel3D, cmvr.msgs.AgvUtils.AgvMapVoxel3D.Builder, cmvr.msgs.AgvUtils.AgvMapVoxel3DOrBuilder> 
           getVoxelsFieldBuilder() {
         if (voxelsBuilder_ == null) {
           voxelsBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              cmvr.msgs.Agv.AgvMapVoxel3D, cmvr.msgs.Agv.AgvMapVoxel3D.Builder, cmvr.msgs.Agv.AgvMapVoxel3DOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvMapVoxel3D, cmvr.msgs.AgvUtils.AgvMapVoxel3D.Builder, cmvr.msgs.AgvUtils.AgvMapVoxel3DOrBuilder>(
                   voxels_,
                   ((bitField0_ & 0x00000002) != 0),
                   getParentForChildren(),
@@ -18295,17 +18485,17 @@ java.lang.String defaultValue);
         return voxelsBuilder_;
       }
 
-      private java.util.List planes_ =
+      private java.util.List planes_ =
         java.util.Collections.emptyList();
       private void ensurePlanesIsMutable() {
         if (!((bitField0_ & 0x00000004) != 0)) {
-          planes_ = new java.util.ArrayList(planes_);
+          planes_ = new java.util.ArrayList(planes_);
           bitField0_ |= 0x00000004;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapPlane3D, cmvr.msgs.Agv.AgvMapPlane3D.Builder, cmvr.msgs.Agv.AgvMapPlane3DOrBuilder> planesBuilder_;
+          cmvr.msgs.AgvUtils.AgvMapPlane3D, cmvr.msgs.AgvUtils.AgvMapPlane3D.Builder, cmvr.msgs.AgvUtils.AgvMapPlane3DOrBuilder> planesBuilder_;
 
       /**
        * 
@@ -18314,7 +18504,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
-      public java.util.List getPlanesList() {
+      public java.util.List getPlanesList() {
         if (planesBuilder_ == null) {
           return java.util.Collections.unmodifiableList(planes_);
         } else {
@@ -18342,7 +18532,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
-      public cmvr.msgs.Agv.AgvMapPlane3D getPlanes(int index) {
+      public cmvr.msgs.AgvUtils.AgvMapPlane3D getPlanes(int index) {
         if (planesBuilder_ == null) {
           return planes_.get(index);
         } else {
@@ -18357,7 +18547,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
       public Builder setPlanes(
-          int index, cmvr.msgs.Agv.AgvMapPlane3D value) {
+          int index, cmvr.msgs.AgvUtils.AgvMapPlane3D value) {
         if (planesBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -18378,7 +18568,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
       public Builder setPlanes(
-          int index, cmvr.msgs.Agv.AgvMapPlane3D.Builder builderForValue) {
+          int index, cmvr.msgs.AgvUtils.AgvMapPlane3D.Builder builderForValue) {
         if (planesBuilder_ == null) {
           ensurePlanesIsMutable();
           planes_.set(index, builderForValue.build());
@@ -18395,7 +18585,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
-      public Builder addPlanes(cmvr.msgs.Agv.AgvMapPlane3D value) {
+      public Builder addPlanes(cmvr.msgs.AgvUtils.AgvMapPlane3D value) {
         if (planesBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -18416,7 +18606,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
       public Builder addPlanes(
-          int index, cmvr.msgs.Agv.AgvMapPlane3D value) {
+          int index, cmvr.msgs.AgvUtils.AgvMapPlane3D value) {
         if (planesBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -18437,7 +18627,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
       public Builder addPlanes(
-          cmvr.msgs.Agv.AgvMapPlane3D.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvMapPlane3D.Builder builderForValue) {
         if (planesBuilder_ == null) {
           ensurePlanesIsMutable();
           planes_.add(builderForValue.build());
@@ -18455,7 +18645,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
       public Builder addPlanes(
-          int index, cmvr.msgs.Agv.AgvMapPlane3D.Builder builderForValue) {
+          int index, cmvr.msgs.AgvUtils.AgvMapPlane3D.Builder builderForValue) {
         if (planesBuilder_ == null) {
           ensurePlanesIsMutable();
           planes_.add(index, builderForValue.build());
@@ -18473,7 +18663,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
       public Builder addAllPlanes(
-          java.lang.Iterable values) {
+          java.lang.Iterable values) {
         if (planesBuilder_ == null) {
           ensurePlanesIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -18525,7 +18715,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
-      public cmvr.msgs.Agv.AgvMapPlane3D.Builder getPlanesBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapPlane3D.Builder getPlanesBuilder(
           int index) {
         return getPlanesFieldBuilder().getBuilder(index);
       }
@@ -18536,7 +18726,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
-      public cmvr.msgs.Agv.AgvMapPlane3DOrBuilder getPlanesOrBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapPlane3DOrBuilder getPlanesOrBuilder(
           int index) {
         if (planesBuilder_ == null) {
           return planes_.get(index);  } else {
@@ -18550,7 +18740,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
-      public java.util.List 
+      public java.util.List 
            getPlanesOrBuilderList() {
         if (planesBuilder_ != null) {
           return planesBuilder_.getMessageOrBuilderList();
@@ -18565,9 +18755,9 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
-      public cmvr.msgs.Agv.AgvMapPlane3D.Builder addPlanesBuilder() {
+      public cmvr.msgs.AgvUtils.AgvMapPlane3D.Builder addPlanesBuilder() {
         return getPlanesFieldBuilder().addBuilder(
-            cmvr.msgs.Agv.AgvMapPlane3D.getDefaultInstance());
+            cmvr.msgs.AgvUtils.AgvMapPlane3D.getDefaultInstance());
       }
       /**
        * 
@@ -18576,10 +18766,10 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
-      public cmvr.msgs.Agv.AgvMapPlane3D.Builder addPlanesBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapPlane3D.Builder addPlanesBuilder(
           int index) {
         return getPlanesFieldBuilder().addBuilder(
-            index, cmvr.msgs.Agv.AgvMapPlane3D.getDefaultInstance());
+            index, cmvr.msgs.AgvUtils.AgvMapPlane3D.getDefaultInstance());
       }
       /**
        * 
@@ -18588,16 +18778,16 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapPlane3D planes = 6;
        */
-      public java.util.List 
+      public java.util.List 
            getPlanesBuilderList() {
         return getPlanesFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapPlane3D, cmvr.msgs.Agv.AgvMapPlane3D.Builder, cmvr.msgs.Agv.AgvMapPlane3DOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvMapPlane3D, cmvr.msgs.AgvUtils.AgvMapPlane3D.Builder, cmvr.msgs.AgvUtils.AgvMapPlane3DOrBuilder> 
           getPlanesFieldBuilder() {
         if (planesBuilder_ == null) {
           planesBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              cmvr.msgs.Agv.AgvMapPlane3D, cmvr.msgs.Agv.AgvMapPlane3D.Builder, cmvr.msgs.Agv.AgvMapPlane3DOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvMapPlane3D, cmvr.msgs.AgvUtils.AgvMapPlane3D.Builder, cmvr.msgs.AgvUtils.AgvMapPlane3DOrBuilder>(
                   planes_,
                   ((bitField0_ & 0x00000004) != 0),
                   getParentForChildren(),
@@ -18607,17 +18797,17 @@ java.lang.String defaultValue);
         return planesBuilder_;
       }
 
-      private java.util.List objects_ =
+      private java.util.List objects_ =
         java.util.Collections.emptyList();
       private void ensureObjectsIsMutable() {
         if (!((bitField0_ & 0x00000008) != 0)) {
-          objects_ = new java.util.ArrayList(objects_);
+          objects_ = new java.util.ArrayList(objects_);
           bitField0_ |= 0x00000008;
          }
       }
 
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapObject, cmvr.msgs.Agv.AgvMapObject.Builder, cmvr.msgs.Agv.AgvMapObjectOrBuilder> objectsBuilder_;
+          cmvr.msgs.AgvUtils.AgvMapObject, cmvr.msgs.AgvUtils.AgvMapObject.Builder, cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder> objectsBuilder_;
 
       /**
        * 
@@ -18626,7 +18816,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
-      public java.util.List getObjectsList() {
+      public java.util.List getObjectsList() {
         if (objectsBuilder_ == null) {
           return java.util.Collections.unmodifiableList(objects_);
         } else {
@@ -18654,7 +18844,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
-      public cmvr.msgs.Agv.AgvMapObject getObjects(int index) {
+      public cmvr.msgs.AgvUtils.AgvMapObject getObjects(int index) {
         if (objectsBuilder_ == null) {
           return objects_.get(index);
         } else {
@@ -18669,7 +18859,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
       public Builder setObjects(
-          int index, cmvr.msgs.Agv.AgvMapObject value) {
+          int index, cmvr.msgs.AgvUtils.AgvMapObject value) {
         if (objectsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -18690,7 +18880,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
       public Builder setObjects(
-          int index, cmvr.msgs.Agv.AgvMapObject.Builder builderForValue) {
+          int index, cmvr.msgs.AgvUtils.AgvMapObject.Builder builderForValue) {
         if (objectsBuilder_ == null) {
           ensureObjectsIsMutable();
           objects_.set(index, builderForValue.build());
@@ -18707,7 +18897,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
-      public Builder addObjects(cmvr.msgs.Agv.AgvMapObject value) {
+      public Builder addObjects(cmvr.msgs.AgvUtils.AgvMapObject value) {
         if (objectsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -18728,7 +18918,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
       public Builder addObjects(
-          int index, cmvr.msgs.Agv.AgvMapObject value) {
+          int index, cmvr.msgs.AgvUtils.AgvMapObject value) {
         if (objectsBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -18749,7 +18939,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
       public Builder addObjects(
-          cmvr.msgs.Agv.AgvMapObject.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvMapObject.Builder builderForValue) {
         if (objectsBuilder_ == null) {
           ensureObjectsIsMutable();
           objects_.add(builderForValue.build());
@@ -18767,7 +18957,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
       public Builder addObjects(
-          int index, cmvr.msgs.Agv.AgvMapObject.Builder builderForValue) {
+          int index, cmvr.msgs.AgvUtils.AgvMapObject.Builder builderForValue) {
         if (objectsBuilder_ == null) {
           ensureObjectsIsMutable();
           objects_.add(index, builderForValue.build());
@@ -18785,7 +18975,7 @@ java.lang.String defaultValue);
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
       public Builder addAllObjects(
-          java.lang.Iterable values) {
+          java.lang.Iterable values) {
         if (objectsBuilder_ == null) {
           ensureObjectsIsMutable();
           com.google.protobuf.AbstractMessageLite.Builder.addAll(
@@ -18837,7 +19027,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
-      public cmvr.msgs.Agv.AgvMapObject.Builder getObjectsBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapObject.Builder getObjectsBuilder(
           int index) {
         return getObjectsFieldBuilder().getBuilder(index);
       }
@@ -18848,7 +19038,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
-      public cmvr.msgs.Agv.AgvMapObjectOrBuilder getObjectsOrBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder getObjectsOrBuilder(
           int index) {
         if (objectsBuilder_ == null) {
           return objects_.get(index);  } else {
@@ -18862,7 +19052,7 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
-      public java.util.List 
+      public java.util.List 
            getObjectsOrBuilderList() {
         if (objectsBuilder_ != null) {
           return objectsBuilder_.getMessageOrBuilderList();
@@ -18877,9 +19067,9 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
-      public cmvr.msgs.Agv.AgvMapObject.Builder addObjectsBuilder() {
+      public cmvr.msgs.AgvUtils.AgvMapObject.Builder addObjectsBuilder() {
         return getObjectsFieldBuilder().addBuilder(
-            cmvr.msgs.Agv.AgvMapObject.getDefaultInstance());
+            cmvr.msgs.AgvUtils.AgvMapObject.getDefaultInstance());
       }
       /**
        * 
@@ -18888,10 +19078,10 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
-      public cmvr.msgs.Agv.AgvMapObject.Builder addObjectsBuilder(
+      public cmvr.msgs.AgvUtils.AgvMapObject.Builder addObjectsBuilder(
           int index) {
         return getObjectsFieldBuilder().addBuilder(
-            index, cmvr.msgs.Agv.AgvMapObject.getDefaultInstance());
+            index, cmvr.msgs.AgvUtils.AgvMapObject.getDefaultInstance());
       }
       /**
        * 
@@ -18900,16 +19090,16 @@ java.lang.String defaultValue);
        *
        * repeated .cmvr.msgs.AgvMapObject objects = 7;
        */
-      public java.util.List 
+      public java.util.List 
            getObjectsBuilderList() {
         return getObjectsFieldBuilder().getBuilderList();
       }
       private com.google.protobuf.RepeatedFieldBuilderV3<
-          cmvr.msgs.Agv.AgvMapObject, cmvr.msgs.Agv.AgvMapObject.Builder, cmvr.msgs.Agv.AgvMapObjectOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvMapObject, cmvr.msgs.AgvUtils.AgvMapObject.Builder, cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder> 
           getObjectsFieldBuilder() {
         if (objectsBuilder_ == null) {
           objectsBuilder_ = new com.google.protobuf.RepeatedFieldBuilderV3<
-              cmvr.msgs.Agv.AgvMapObject, cmvr.msgs.Agv.AgvMapObject.Builder, cmvr.msgs.Agv.AgvMapObjectOrBuilder>(
+              cmvr.msgs.AgvUtils.AgvMapObject, cmvr.msgs.AgvUtils.AgvMapObject.Builder, cmvr.msgs.AgvUtils.AgvMapObjectOrBuilder>(
                   objects_,
                   ((bitField0_ & 0x00000008) != 0),
                   getParentForChildren(),
@@ -18935,12 +19125,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvUnifiedMap3D)
-    private static final cmvr.msgs.Agv.AgvUnifiedMap3D DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvUnifiedMap3D DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvUnifiedMap3D();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvUnifiedMap3D();
     }
 
-    public static cmvr.msgs.Agv.AgvUnifiedMap3D getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMap3D getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -18976,7 +19166,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvUnifiedMap3D getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvUnifiedMap3D getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -19073,7 +19263,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvMapDimension dimension = 5;
      * @return The dimension.
      */
-    cmvr.msgs.Agv.AgvMapDimension getDimension();
+    cmvr.msgs.AgvUtils.AgvMapDimension getDimension();
 
     /**
      * 
@@ -19092,7 +19282,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvMapUpdateType update_type = 6;
      * @return The updateType.
      */
-    cmvr.msgs.Agv.AgvMapUpdateType getUpdateType();
+    cmvr.msgs.AgvUtils.AgvMapUpdateType getUpdateType();
 
     /**
      * 
@@ -19181,7 +19371,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvUnifiedMap2D map_2d = 20;
      * @return The map2d.
      */
-    cmvr.msgs.Agv.AgvUnifiedMap2D getMap2D();
+    cmvr.msgs.AgvUtils.AgvUnifiedMap2D getMap2D();
     /**
      * 
      * 统一 2D 地图或 2D 地图增量。
@@ -19189,7 +19379,7 @@ java.lang.String defaultValue);
      *
      * .cmvr.msgs.AgvUnifiedMap2D map_2d = 20;
      */
-    cmvr.msgs.Agv.AgvUnifiedMap2DOrBuilder getMap2DOrBuilder();
+    cmvr.msgs.AgvUtils.AgvUnifiedMap2DOrBuilder getMap2DOrBuilder();
 
     /**
      * 
@@ -19208,7 +19398,7 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvUnifiedMap3D map_3d = 21;
      * @return The map3d.
      */
-    cmvr.msgs.Agv.AgvUnifiedMap3D getMap3D();
+    cmvr.msgs.AgvUtils.AgvUnifiedMap3D getMap3D();
     /**
      * 
      * 统一 3D 地图或 3D 地图增量。
@@ -19216,9 +19406,9 @@ java.lang.String defaultValue);
      *
      * .cmvr.msgs.AgvUnifiedMap3D map_3d = 21;
      */
-    cmvr.msgs.Agv.AgvUnifiedMap3DOrBuilder getMap3DOrBuilder();
+    cmvr.msgs.AgvUtils.AgvUnifiedMap3DOrBuilder getMap3DOrBuilder();
 
-    public cmvr.msgs.Agv.AgvUnifiedMapUpdate.PayloadCase getPayloadCase();
+    public cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.PayloadCase getPayloadCase();
   }
   /**
    * 
@@ -19260,15 +19450,15 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMapUpdate_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMapUpdate_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMapUpdate_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMapUpdate_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvUnifiedMapUpdate.class, cmvr.msgs.Agv.AgvUnifiedMapUpdate.Builder.class);
+              cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.class, cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.Builder.class);
     }
 
     private int payloadCase_ = 0;
@@ -19486,10 +19676,10 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvMapDimension dimension = 5;
      * @return The dimension.
      */
-    @java.lang.Override public cmvr.msgs.Agv.AgvMapDimension getDimension() {
+    @java.lang.Override public cmvr.msgs.AgvUtils.AgvMapDimension getDimension() {
       @SuppressWarnings("deprecation")
-      cmvr.msgs.Agv.AgvMapDimension result = cmvr.msgs.Agv.AgvMapDimension.valueOf(dimension_);
-      return result == null ? cmvr.msgs.Agv.AgvMapDimension.UNRECOGNIZED : result;
+      cmvr.msgs.AgvUtils.AgvMapDimension result = cmvr.msgs.AgvUtils.AgvMapDimension.valueOf(dimension_);
+      return result == null ? cmvr.msgs.AgvUtils.AgvMapDimension.UNRECOGNIZED : result;
     }
 
     public static final int UPDATE_TYPE_FIELD_NUMBER = 6;
@@ -19513,10 +19703,10 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvMapUpdateType update_type = 6;
      * @return The updateType.
      */
-    @java.lang.Override public cmvr.msgs.Agv.AgvMapUpdateType getUpdateType() {
+    @java.lang.Override public cmvr.msgs.AgvUtils.AgvMapUpdateType getUpdateType() {
       @SuppressWarnings("deprecation")
-      cmvr.msgs.Agv.AgvMapUpdateType result = cmvr.msgs.Agv.AgvMapUpdateType.valueOf(updateType_);
-      return result == null ? cmvr.msgs.Agv.AgvMapUpdateType.UNRECOGNIZED : result;
+      cmvr.msgs.AgvUtils.AgvMapUpdateType result = cmvr.msgs.AgvUtils.AgvMapUpdateType.valueOf(updateType_);
+      return result == null ? cmvr.msgs.AgvUtils.AgvMapUpdateType.UNRECOGNIZED : result;
     }
 
     public static final int FRAME_ID_FIELD_NUMBER = 7;
@@ -19662,11 +19852,11 @@ java.lang.String defaultValue);
      * @return The map2d.
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvUnifiedMap2D getMap2D() {
+    public cmvr.msgs.AgvUtils.AgvUnifiedMap2D getMap2D() {
       if (payloadCase_ == 20) {
-         return (cmvr.msgs.Agv.AgvUnifiedMap2D) payload_;
+         return (cmvr.msgs.AgvUtils.AgvUnifiedMap2D) payload_;
       }
-      return cmvr.msgs.Agv.AgvUnifiedMap2D.getDefaultInstance();
+      return cmvr.msgs.AgvUtils.AgvUnifiedMap2D.getDefaultInstance();
     }
     /**
      * 
@@ -19676,11 +19866,11 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvUnifiedMap2D map_2d = 20;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvUnifiedMap2DOrBuilder getMap2DOrBuilder() {
+    public cmvr.msgs.AgvUtils.AgvUnifiedMap2DOrBuilder getMap2DOrBuilder() {
       if (payloadCase_ == 20) {
-         return (cmvr.msgs.Agv.AgvUnifiedMap2D) payload_;
+         return (cmvr.msgs.AgvUtils.AgvUnifiedMap2D) payload_;
       }
-      return cmvr.msgs.Agv.AgvUnifiedMap2D.getDefaultInstance();
+      return cmvr.msgs.AgvUtils.AgvUnifiedMap2D.getDefaultInstance();
     }
 
     public static final int MAP_3D_FIELD_NUMBER = 21;
@@ -19705,11 +19895,11 @@ java.lang.String defaultValue);
      * @return The map3d.
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvUnifiedMap3D getMap3D() {
+    public cmvr.msgs.AgvUtils.AgvUnifiedMap3D getMap3D() {
       if (payloadCase_ == 21) {
-         return (cmvr.msgs.Agv.AgvUnifiedMap3D) payload_;
+         return (cmvr.msgs.AgvUtils.AgvUnifiedMap3D) payload_;
       }
-      return cmvr.msgs.Agv.AgvUnifiedMap3D.getDefaultInstance();
+      return cmvr.msgs.AgvUtils.AgvUnifiedMap3D.getDefaultInstance();
     }
     /**
      * 
@@ -19719,11 +19909,11 @@ java.lang.String defaultValue);
      * .cmvr.msgs.AgvUnifiedMap3D map_3d = 21;
      */
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvUnifiedMap3DOrBuilder getMap3DOrBuilder() {
+    public cmvr.msgs.AgvUtils.AgvUnifiedMap3DOrBuilder getMap3DOrBuilder() {
       if (payloadCase_ == 21) {
-         return (cmvr.msgs.Agv.AgvUnifiedMap3D) payload_;
+         return (cmvr.msgs.AgvUtils.AgvUnifiedMap3D) payload_;
       }
-      return cmvr.msgs.Agv.AgvUnifiedMap3D.getDefaultInstance();
+      return cmvr.msgs.AgvUtils.AgvUnifiedMap3D.getDefaultInstance();
     }
 
     private byte memoizedIsInitialized = -1;
@@ -19752,10 +19942,10 @@ java.lang.String defaultValue);
       if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(resumeToken_)) {
         com.google.protobuf.GeneratedMessageV3.writeString(output, 4, resumeToken_);
       }
-      if (dimension_ != cmvr.msgs.Agv.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED.getNumber()) {
+      if (dimension_ != cmvr.msgs.AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED.getNumber()) {
         output.writeEnum(5, dimension_);
       }
-      if (updateType_ != cmvr.msgs.Agv.AgvMapUpdateType.AGV_MAP_UPDATE_UNSPECIFIED.getNumber()) {
+      if (updateType_ != cmvr.msgs.AgvUtils.AgvMapUpdateType.AGV_MAP_UPDATE_UNSPECIFIED.getNumber()) {
         output.writeEnum(6, updateType_);
       }
       if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(frameId_)) {
@@ -19777,10 +19967,10 @@ java.lang.String defaultValue);
         output.writeUInt32(12, chunkCount_);
       }
       if (payloadCase_ == 20) {
-        output.writeMessage(20, (cmvr.msgs.Agv.AgvUnifiedMap2D) payload_);
+        output.writeMessage(20, (cmvr.msgs.AgvUtils.AgvUnifiedMap2D) payload_);
       }
       if (payloadCase_ == 21) {
-        output.writeMessage(21, (cmvr.msgs.Agv.AgvUnifiedMap3D) payload_);
+        output.writeMessage(21, (cmvr.msgs.AgvUtils.AgvUnifiedMap3D) payload_);
       }
       getUnknownFields().writeTo(output);
     }
@@ -19804,11 +19994,11 @@ java.lang.String defaultValue);
       if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(resumeToken_)) {
         size += com.google.protobuf.GeneratedMessageV3.computeStringSize(4, resumeToken_);
       }
-      if (dimension_ != cmvr.msgs.Agv.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED.getNumber()) {
+      if (dimension_ != cmvr.msgs.AgvUtils.AgvMapDimension.AGV_MAP_DIMENSION_UNSPECIFIED.getNumber()) {
         size += com.google.protobuf.CodedOutputStream
           .computeEnumSize(5, dimension_);
       }
-      if (updateType_ != cmvr.msgs.Agv.AgvMapUpdateType.AGV_MAP_UPDATE_UNSPECIFIED.getNumber()) {
+      if (updateType_ != cmvr.msgs.AgvUtils.AgvMapUpdateType.AGV_MAP_UPDATE_UNSPECIFIED.getNumber()) {
         size += com.google.protobuf.CodedOutputStream
           .computeEnumSize(6, updateType_);
       }
@@ -19837,11 +20027,11 @@ java.lang.String defaultValue);
       }
       if (payloadCase_ == 20) {
         size += com.google.protobuf.CodedOutputStream
-          .computeMessageSize(20, (cmvr.msgs.Agv.AgvUnifiedMap2D) payload_);
+          .computeMessageSize(20, (cmvr.msgs.AgvUtils.AgvUnifiedMap2D) payload_);
       }
       if (payloadCase_ == 21) {
         size += com.google.protobuf.CodedOutputStream
-          .computeMessageSize(21, (cmvr.msgs.Agv.AgvUnifiedMap3D) payload_);
+          .computeMessageSize(21, (cmvr.msgs.AgvUtils.AgvUnifiedMap3D) payload_);
       }
       size += getUnknownFields().getSerializedSize();
       memoizedSize = size;
@@ -19853,10 +20043,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvUnifiedMapUpdate)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvUnifiedMapUpdate other = (cmvr.msgs.Agv.AgvUnifiedMapUpdate) obj;
+      cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate other = (cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate) obj;
 
       if (!getMapId()
           .equals(other.getMapId())) return false;
@@ -19950,69 +20140,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -20025,7 +20215,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvUnifiedMapUpdate prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -20051,21 +20241,21 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvUnifiedMapUpdate)
-        cmvr.msgs.Agv.AgvUnifiedMapUpdateOrBuilder {
+        cmvr.msgs.AgvUtils.AgvUnifiedMapUpdateOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMapUpdate_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMapUpdate_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMapUpdate_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMapUpdate_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvUnifiedMapUpdate.class, cmvr.msgs.Agv.AgvUnifiedMapUpdate.Builder.class);
+                cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.class, cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvUnifiedMapUpdate.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.newBuilder()
       private Builder() {
 
       }
@@ -20116,17 +20306,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvUnifiedMapUpdate_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvUnifiedMapUpdate_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMapUpdate getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvUnifiedMapUpdate.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMapUpdate build() {
-        cmvr.msgs.Agv.AgvUnifiedMapUpdate result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate build() {
+        cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -20134,8 +20324,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMapUpdate buildPartial() {
-        cmvr.msgs.Agv.AgvUnifiedMapUpdate result = new cmvr.msgs.Agv.AgvUnifiedMapUpdate(this);
+      public cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate buildPartial() {
+        cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate result = new cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate(this);
         result.mapId_ = mapId_;
         result.sessionId_ = sessionId_;
         result.sequence_ = sequence_;
@@ -20201,16 +20391,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvUnifiedMapUpdate) {
-          return mergeFrom((cmvr.msgs.Agv.AgvUnifiedMapUpdate)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvUnifiedMapUpdate other) {
-        if (other == cmvr.msgs.Agv.AgvUnifiedMapUpdate.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate other) {
+        if (other == cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate.getDefaultInstance()) return this;
         if (!other.getMapId().isEmpty()) {
           mapId_ = other.mapId_;
           onChanged();
@@ -20762,10 +20952,10 @@ java.lang.String defaultValue);
        * @return The dimension.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapDimension getDimension() {
+      public cmvr.msgs.AgvUtils.AgvMapDimension getDimension() {
         @SuppressWarnings("deprecation")
-        cmvr.msgs.Agv.AgvMapDimension result = cmvr.msgs.Agv.AgvMapDimension.valueOf(dimension_);
-        return result == null ? cmvr.msgs.Agv.AgvMapDimension.UNRECOGNIZED : result;
+        cmvr.msgs.AgvUtils.AgvMapDimension result = cmvr.msgs.AgvUtils.AgvMapDimension.valueOf(dimension_);
+        return result == null ? cmvr.msgs.AgvUtils.AgvMapDimension.UNRECOGNIZED : result;
       }
       /**
        * 
@@ -20776,7 +20966,7 @@ java.lang.String defaultValue);
        * @param value The dimension to set.
        * @return This builder for chaining.
        */
-      public Builder setDimension(cmvr.msgs.Agv.AgvMapDimension value) {
+      public Builder setDimension(cmvr.msgs.AgvUtils.AgvMapDimension value) {
         if (value == null) {
           throw new NullPointerException();
         }
@@ -20836,10 +21026,10 @@ java.lang.String defaultValue);
        * @return The updateType.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvMapUpdateType getUpdateType() {
+      public cmvr.msgs.AgvUtils.AgvMapUpdateType getUpdateType() {
         @SuppressWarnings("deprecation")
-        cmvr.msgs.Agv.AgvMapUpdateType result = cmvr.msgs.Agv.AgvMapUpdateType.valueOf(updateType_);
-        return result == null ? cmvr.msgs.Agv.AgvMapUpdateType.UNRECOGNIZED : result;
+        cmvr.msgs.AgvUtils.AgvMapUpdateType result = cmvr.msgs.AgvUtils.AgvMapUpdateType.valueOf(updateType_);
+        return result == null ? cmvr.msgs.AgvUtils.AgvMapUpdateType.UNRECOGNIZED : result;
       }
       /**
        * 
@@ -20850,7 +21040,7 @@ java.lang.String defaultValue);
        * @param value The updateType to set.
        * @return This builder for chaining.
        */
-      public Builder setUpdateType(cmvr.msgs.Agv.AgvMapUpdateType value) {
+      public Builder setUpdateType(cmvr.msgs.AgvUtils.AgvMapUpdateType value) {
         if (value == null) {
           throw new NullPointerException();
         }
@@ -21186,7 +21376,7 @@ java.lang.String defaultValue);
       }
 
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvUnifiedMap2D, cmvr.msgs.Agv.AgvUnifiedMap2D.Builder, cmvr.msgs.Agv.AgvUnifiedMap2DOrBuilder> map2DBuilder_;
+          cmvr.msgs.AgvUtils.AgvUnifiedMap2D, cmvr.msgs.AgvUtils.AgvUnifiedMap2D.Builder, cmvr.msgs.AgvUtils.AgvUnifiedMap2DOrBuilder> map2DBuilder_;
       /**
        * 
        * 统一 2D 地图或 2D 地图增量。
@@ -21208,17 +21398,17 @@ java.lang.String defaultValue);
        * @return The map2d.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMap2D getMap2D() {
+      public cmvr.msgs.AgvUtils.AgvUnifiedMap2D getMap2D() {
         if (map2DBuilder_ == null) {
           if (payloadCase_ == 20) {
-            return (cmvr.msgs.Agv.AgvUnifiedMap2D) payload_;
+            return (cmvr.msgs.AgvUtils.AgvUnifiedMap2D) payload_;
           }
-          return cmvr.msgs.Agv.AgvUnifiedMap2D.getDefaultInstance();
+          return cmvr.msgs.AgvUtils.AgvUnifiedMap2D.getDefaultInstance();
         } else {
           if (payloadCase_ == 20) {
             return map2DBuilder_.getMessage();
           }
-          return cmvr.msgs.Agv.AgvUnifiedMap2D.getDefaultInstance();
+          return cmvr.msgs.AgvUtils.AgvUnifiedMap2D.getDefaultInstance();
         }
       }
       /**
@@ -21228,7 +21418,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvUnifiedMap2D map_2d = 20;
        */
-      public Builder setMap2D(cmvr.msgs.Agv.AgvUnifiedMap2D value) {
+      public Builder setMap2D(cmvr.msgs.AgvUtils.AgvUnifiedMap2D value) {
         if (map2DBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -21249,7 +21439,7 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvUnifiedMap2D map_2d = 20;
        */
       public Builder setMap2D(
-          cmvr.msgs.Agv.AgvUnifiedMap2D.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvUnifiedMap2D.Builder builderForValue) {
         if (map2DBuilder_ == null) {
           payload_ = builderForValue.build();
           onChanged();
@@ -21266,11 +21456,11 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvUnifiedMap2D map_2d = 20;
        */
-      public Builder mergeMap2D(cmvr.msgs.Agv.AgvUnifiedMap2D value) {
+      public Builder mergeMap2D(cmvr.msgs.AgvUtils.AgvUnifiedMap2D value) {
         if (map2DBuilder_ == null) {
           if (payloadCase_ == 20 &&
-              payload_ != cmvr.msgs.Agv.AgvUnifiedMap2D.getDefaultInstance()) {
-            payload_ = cmvr.msgs.Agv.AgvUnifiedMap2D.newBuilder((cmvr.msgs.Agv.AgvUnifiedMap2D) payload_)
+              payload_ != cmvr.msgs.AgvUtils.AgvUnifiedMap2D.getDefaultInstance()) {
+            payload_ = cmvr.msgs.AgvUtils.AgvUnifiedMap2D.newBuilder((cmvr.msgs.AgvUtils.AgvUnifiedMap2D) payload_)
                 .mergeFrom(value).buildPartial();
           } else {
             payload_ = value;
@@ -21316,7 +21506,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvUnifiedMap2D map_2d = 20;
        */
-      public cmvr.msgs.Agv.AgvUnifiedMap2D.Builder getMap2DBuilder() {
+      public cmvr.msgs.AgvUtils.AgvUnifiedMap2D.Builder getMap2DBuilder() {
         return getMap2DFieldBuilder().getBuilder();
       }
       /**
@@ -21327,14 +21517,14 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvUnifiedMap2D map_2d = 20;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMap2DOrBuilder getMap2DOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvUnifiedMap2DOrBuilder getMap2DOrBuilder() {
         if ((payloadCase_ == 20) && (map2DBuilder_ != null)) {
           return map2DBuilder_.getMessageOrBuilder();
         } else {
           if (payloadCase_ == 20) {
-            return (cmvr.msgs.Agv.AgvUnifiedMap2D) payload_;
+            return (cmvr.msgs.AgvUtils.AgvUnifiedMap2D) payload_;
           }
-          return cmvr.msgs.Agv.AgvUnifiedMap2D.getDefaultInstance();
+          return cmvr.msgs.AgvUtils.AgvUnifiedMap2D.getDefaultInstance();
         }
       }
       /**
@@ -21345,15 +21535,15 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvUnifiedMap2D map_2d = 20;
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvUnifiedMap2D, cmvr.msgs.Agv.AgvUnifiedMap2D.Builder, cmvr.msgs.Agv.AgvUnifiedMap2DOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvUnifiedMap2D, cmvr.msgs.AgvUtils.AgvUnifiedMap2D.Builder, cmvr.msgs.AgvUtils.AgvUnifiedMap2DOrBuilder> 
           getMap2DFieldBuilder() {
         if (map2DBuilder_ == null) {
           if (!(payloadCase_ == 20)) {
-            payload_ = cmvr.msgs.Agv.AgvUnifiedMap2D.getDefaultInstance();
+            payload_ = cmvr.msgs.AgvUtils.AgvUnifiedMap2D.getDefaultInstance();
           }
           map2DBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.msgs.Agv.AgvUnifiedMap2D, cmvr.msgs.Agv.AgvUnifiedMap2D.Builder, cmvr.msgs.Agv.AgvUnifiedMap2DOrBuilder>(
-                  (cmvr.msgs.Agv.AgvUnifiedMap2D) payload_,
+              cmvr.msgs.AgvUtils.AgvUnifiedMap2D, cmvr.msgs.AgvUtils.AgvUnifiedMap2D.Builder, cmvr.msgs.AgvUtils.AgvUnifiedMap2DOrBuilder>(
+                  (cmvr.msgs.AgvUtils.AgvUnifiedMap2D) payload_,
                   getParentForChildren(),
                   isClean());
           payload_ = null;
@@ -21364,7 +21554,7 @@ java.lang.String defaultValue);
       }
 
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvUnifiedMap3D, cmvr.msgs.Agv.AgvUnifiedMap3D.Builder, cmvr.msgs.Agv.AgvUnifiedMap3DOrBuilder> map3DBuilder_;
+          cmvr.msgs.AgvUtils.AgvUnifiedMap3D, cmvr.msgs.AgvUtils.AgvUnifiedMap3D.Builder, cmvr.msgs.AgvUtils.AgvUnifiedMap3DOrBuilder> map3DBuilder_;
       /**
        * 
        * 统一 3D 地图或 3D 地图增量。
@@ -21386,17 +21576,17 @@ java.lang.String defaultValue);
        * @return The map3d.
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMap3D getMap3D() {
+      public cmvr.msgs.AgvUtils.AgvUnifiedMap3D getMap3D() {
         if (map3DBuilder_ == null) {
           if (payloadCase_ == 21) {
-            return (cmvr.msgs.Agv.AgvUnifiedMap3D) payload_;
+            return (cmvr.msgs.AgvUtils.AgvUnifiedMap3D) payload_;
           }
-          return cmvr.msgs.Agv.AgvUnifiedMap3D.getDefaultInstance();
+          return cmvr.msgs.AgvUtils.AgvUnifiedMap3D.getDefaultInstance();
         } else {
           if (payloadCase_ == 21) {
             return map3DBuilder_.getMessage();
           }
-          return cmvr.msgs.Agv.AgvUnifiedMap3D.getDefaultInstance();
+          return cmvr.msgs.AgvUtils.AgvUnifiedMap3D.getDefaultInstance();
         }
       }
       /**
@@ -21406,7 +21596,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvUnifiedMap3D map_3d = 21;
        */
-      public Builder setMap3D(cmvr.msgs.Agv.AgvUnifiedMap3D value) {
+      public Builder setMap3D(cmvr.msgs.AgvUtils.AgvUnifiedMap3D value) {
         if (map3DBuilder_ == null) {
           if (value == null) {
             throw new NullPointerException();
@@ -21427,7 +21617,7 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvUnifiedMap3D map_3d = 21;
        */
       public Builder setMap3D(
-          cmvr.msgs.Agv.AgvUnifiedMap3D.Builder builderForValue) {
+          cmvr.msgs.AgvUtils.AgvUnifiedMap3D.Builder builderForValue) {
         if (map3DBuilder_ == null) {
           payload_ = builderForValue.build();
           onChanged();
@@ -21444,11 +21634,11 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvUnifiedMap3D map_3d = 21;
        */
-      public Builder mergeMap3D(cmvr.msgs.Agv.AgvUnifiedMap3D value) {
+      public Builder mergeMap3D(cmvr.msgs.AgvUtils.AgvUnifiedMap3D value) {
         if (map3DBuilder_ == null) {
           if (payloadCase_ == 21 &&
-              payload_ != cmvr.msgs.Agv.AgvUnifiedMap3D.getDefaultInstance()) {
-            payload_ = cmvr.msgs.Agv.AgvUnifiedMap3D.newBuilder((cmvr.msgs.Agv.AgvUnifiedMap3D) payload_)
+              payload_ != cmvr.msgs.AgvUtils.AgvUnifiedMap3D.getDefaultInstance()) {
+            payload_ = cmvr.msgs.AgvUtils.AgvUnifiedMap3D.newBuilder((cmvr.msgs.AgvUtils.AgvUnifiedMap3D) payload_)
                 .mergeFrom(value).buildPartial();
           } else {
             payload_ = value;
@@ -21494,7 +21684,7 @@ java.lang.String defaultValue);
        *
        * .cmvr.msgs.AgvUnifiedMap3D map_3d = 21;
        */
-      public cmvr.msgs.Agv.AgvUnifiedMap3D.Builder getMap3DBuilder() {
+      public cmvr.msgs.AgvUtils.AgvUnifiedMap3D.Builder getMap3DBuilder() {
         return getMap3DFieldBuilder().getBuilder();
       }
       /**
@@ -21505,14 +21695,14 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvUnifiedMap3D map_3d = 21;
        */
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvUnifiedMap3DOrBuilder getMap3DOrBuilder() {
+      public cmvr.msgs.AgvUtils.AgvUnifiedMap3DOrBuilder getMap3DOrBuilder() {
         if ((payloadCase_ == 21) && (map3DBuilder_ != null)) {
           return map3DBuilder_.getMessageOrBuilder();
         } else {
           if (payloadCase_ == 21) {
-            return (cmvr.msgs.Agv.AgvUnifiedMap3D) payload_;
+            return (cmvr.msgs.AgvUtils.AgvUnifiedMap3D) payload_;
           }
-          return cmvr.msgs.Agv.AgvUnifiedMap3D.getDefaultInstance();
+          return cmvr.msgs.AgvUtils.AgvUnifiedMap3D.getDefaultInstance();
         }
       }
       /**
@@ -21523,15 +21713,15 @@ java.lang.String defaultValue);
        * .cmvr.msgs.AgvUnifiedMap3D map_3d = 21;
        */
       private com.google.protobuf.SingleFieldBuilderV3<
-          cmvr.msgs.Agv.AgvUnifiedMap3D, cmvr.msgs.Agv.AgvUnifiedMap3D.Builder, cmvr.msgs.Agv.AgvUnifiedMap3DOrBuilder> 
+          cmvr.msgs.AgvUtils.AgvUnifiedMap3D, cmvr.msgs.AgvUtils.AgvUnifiedMap3D.Builder, cmvr.msgs.AgvUtils.AgvUnifiedMap3DOrBuilder> 
           getMap3DFieldBuilder() {
         if (map3DBuilder_ == null) {
           if (!(payloadCase_ == 21)) {
-            payload_ = cmvr.msgs.Agv.AgvUnifiedMap3D.getDefaultInstance();
+            payload_ = cmvr.msgs.AgvUtils.AgvUnifiedMap3D.getDefaultInstance();
           }
           map3DBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
-              cmvr.msgs.Agv.AgvUnifiedMap3D, cmvr.msgs.Agv.AgvUnifiedMap3D.Builder, cmvr.msgs.Agv.AgvUnifiedMap3DOrBuilder>(
-                  (cmvr.msgs.Agv.AgvUnifiedMap3D) payload_,
+              cmvr.msgs.AgvUtils.AgvUnifiedMap3D, cmvr.msgs.AgvUtils.AgvUnifiedMap3D.Builder, cmvr.msgs.AgvUtils.AgvUnifiedMap3DOrBuilder>(
+                  (cmvr.msgs.AgvUtils.AgvUnifiedMap3D) payload_,
                   getParentForChildren(),
                   isClean());
           payload_ = null;
@@ -21557,12 +21747,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvUnifiedMapUpdate)
-    private static final cmvr.msgs.Agv.AgvUnifiedMapUpdate DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvUnifiedMapUpdate();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate();
     }
 
-    public static cmvr.msgs.Agv.AgvUnifiedMapUpdate getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -21598,7 +21788,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvUnifiedMapUpdate getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvUnifiedMapUpdate getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -21692,15 +21882,15 @@ java.lang.String defaultValue);
     }
     public static final com.google.protobuf.Descriptors.Descriptor
         getDescriptor() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvNavigationStatus_descriptor;
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvNavigationStatus_descriptor;
     }
 
     @java.lang.Override
     protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
         internalGetFieldAccessorTable() {
-      return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvNavigationStatus_fieldAccessorTable
+      return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvNavigationStatus_fieldAccessorTable
           .ensureFieldAccessorsInitialized(
-              cmvr.msgs.Agv.AgvNavigationStatus.class, cmvr.msgs.Agv.AgvNavigationStatus.Builder.class);
+              cmvr.msgs.AgvUtils.AgvNavigationStatus.class, cmvr.msgs.AgvUtils.AgvNavigationStatus.Builder.class);
     }
 
     public static final int STATE_FIELD_NUMBER = 1;
@@ -21854,10 +22044,10 @@ java.lang.String defaultValue);
       if (obj == this) {
        return true;
       }
-      if (!(obj instanceof cmvr.msgs.Agv.AgvNavigationStatus)) {
+      if (!(obj instanceof cmvr.msgs.AgvUtils.AgvNavigationStatus)) {
         return super.equals(obj);
       }
-      cmvr.msgs.Agv.AgvNavigationStatus other = (cmvr.msgs.Agv.AgvNavigationStatus) obj;
+      cmvr.msgs.AgvUtils.AgvNavigationStatus other = (cmvr.msgs.AgvUtils.AgvNavigationStatus) obj;
 
       if (getState()
           != other.getState()) return false;
@@ -21893,69 +22083,69 @@ java.lang.String defaultValue);
       return hash;
     }
 
-    public static cmvr.msgs.Agv.AgvNavigationStatus parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus parseFrom(
         java.nio.ByteBuffer data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvNavigationStatus parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus parseFrom(
         java.nio.ByteBuffer data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvNavigationStatus parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus parseFrom(
         com.google.protobuf.ByteString data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvNavigationStatus parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus parseFrom(
         com.google.protobuf.ByteString data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvNavigationStatus parseFrom(byte[] data)
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus parseFrom(byte[] data)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data);
     }
-    public static cmvr.msgs.Agv.AgvNavigationStatus parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus parseFrom(
         byte[] data,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws com.google.protobuf.InvalidProtocolBufferException {
       return PARSER.parseFrom(data, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvNavigationStatus parseFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus parseFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvNavigationStatus parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus parseFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvNavigationStatus parseDelimitedFrom(java.io.InputStream input)
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus parseDelimitedFrom(java.io.InputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvNavigationStatus parseDelimitedFrom(
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus parseDelimitedFrom(
         java.io.InputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
     }
-    public static cmvr.msgs.Agv.AgvNavigationStatus parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus parseFrom(
         com.google.protobuf.CodedInputStream input)
         throws java.io.IOException {
       return com.google.protobuf.GeneratedMessageV3
           .parseWithIOException(PARSER, input);
     }
-    public static cmvr.msgs.Agv.AgvNavigationStatus parseFrom(
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus parseFrom(
         com.google.protobuf.CodedInputStream input,
         com.google.protobuf.ExtensionRegistryLite extensionRegistry)
         throws java.io.IOException {
@@ -21968,7 +22158,7 @@ java.lang.String defaultValue);
     public static Builder newBuilder() {
       return DEFAULT_INSTANCE.toBuilder();
     }
-    public static Builder newBuilder(cmvr.msgs.Agv.AgvNavigationStatus prototype) {
+    public static Builder newBuilder(cmvr.msgs.AgvUtils.AgvNavigationStatus prototype) {
       return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
     }
     @java.lang.Override
@@ -21993,21 +22183,21 @@ java.lang.String defaultValue);
     public static final class Builder extends
         com.google.protobuf.GeneratedMessageV3.Builder implements
         // @@protoc_insertion_point(builder_implements:cmvr.msgs.AgvNavigationStatus)
-        cmvr.msgs.Agv.AgvNavigationStatusOrBuilder {
+        cmvr.msgs.AgvUtils.AgvNavigationStatusOrBuilder {
       public static final com.google.protobuf.Descriptors.Descriptor
           getDescriptor() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvNavigationStatus_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvNavigationStatus_descriptor;
       }
 
       @java.lang.Override
       protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
           internalGetFieldAccessorTable() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvNavigationStatus_fieldAccessorTable
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvNavigationStatus_fieldAccessorTable
             .ensureFieldAccessorsInitialized(
-                cmvr.msgs.Agv.AgvNavigationStatus.class, cmvr.msgs.Agv.AgvNavigationStatus.Builder.class);
+                cmvr.msgs.AgvUtils.AgvNavigationStatus.class, cmvr.msgs.AgvUtils.AgvNavigationStatus.Builder.class);
       }
 
-      // Construct using cmvr.msgs.Agv.AgvNavigationStatus.newBuilder()
+      // Construct using cmvr.msgs.AgvUtils.AgvNavigationStatus.newBuilder()
       private Builder() {
 
       }
@@ -22034,17 +22224,17 @@ java.lang.String defaultValue);
       @java.lang.Override
       public com.google.protobuf.Descriptors.Descriptor
           getDescriptorForType() {
-        return cmvr.msgs.Agv.internal_static_cmvr_msgs_AgvNavigationStatus_descriptor;
+        return cmvr.msgs.AgvUtils.internal_static_cmvr_msgs_AgvNavigationStatus_descriptor;
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvNavigationStatus getDefaultInstanceForType() {
-        return cmvr.msgs.Agv.AgvNavigationStatus.getDefaultInstance();
+      public cmvr.msgs.AgvUtils.AgvNavigationStatus getDefaultInstanceForType() {
+        return cmvr.msgs.AgvUtils.AgvNavigationStatus.getDefaultInstance();
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvNavigationStatus build() {
-        cmvr.msgs.Agv.AgvNavigationStatus result = buildPartial();
+      public cmvr.msgs.AgvUtils.AgvNavigationStatus build() {
+        cmvr.msgs.AgvUtils.AgvNavigationStatus result = buildPartial();
         if (!result.isInitialized()) {
           throw newUninitializedMessageException(result);
         }
@@ -22052,8 +22242,8 @@ java.lang.String defaultValue);
       }
 
       @java.lang.Override
-      public cmvr.msgs.Agv.AgvNavigationStatus buildPartial() {
-        cmvr.msgs.Agv.AgvNavigationStatus result = new cmvr.msgs.Agv.AgvNavigationStatus(this);
+      public cmvr.msgs.AgvUtils.AgvNavigationStatus buildPartial() {
+        cmvr.msgs.AgvUtils.AgvNavigationStatus result = new cmvr.msgs.AgvUtils.AgvNavigationStatus(this);
         result.state_ = state_;
         result.type_ = type_;
         result.progress_ = progress_;
@@ -22096,16 +22286,16 @@ java.lang.String defaultValue);
       }
       @java.lang.Override
       public Builder mergeFrom(com.google.protobuf.Message other) {
-        if (other instanceof cmvr.msgs.Agv.AgvNavigationStatus) {
-          return mergeFrom((cmvr.msgs.Agv.AgvNavigationStatus)other);
+        if (other instanceof cmvr.msgs.AgvUtils.AgvNavigationStatus) {
+          return mergeFrom((cmvr.msgs.AgvUtils.AgvNavigationStatus)other);
         } else {
           super.mergeFrom(other);
           return this;
         }
       }
 
-      public Builder mergeFrom(cmvr.msgs.Agv.AgvNavigationStatus other) {
-        if (other == cmvr.msgs.Agv.AgvNavigationStatus.getDefaultInstance()) return this;
+      public Builder mergeFrom(cmvr.msgs.AgvUtils.AgvNavigationStatus other) {
+        if (other == cmvr.msgs.AgvUtils.AgvNavigationStatus.getDefaultInstance()) return this;
         if (other.getState() != 0) {
           setState(other.getState());
         }
@@ -22422,12 +22612,12 @@ java.lang.String defaultValue);
     }
 
     // @@protoc_insertion_point(class_scope:cmvr.msgs.AgvNavigationStatus)
-    private static final cmvr.msgs.Agv.AgvNavigationStatus DEFAULT_INSTANCE;
+    private static final cmvr.msgs.AgvUtils.AgvNavigationStatus DEFAULT_INSTANCE;
     static {
-      DEFAULT_INSTANCE = new cmvr.msgs.Agv.AgvNavigationStatus();
+      DEFAULT_INSTANCE = new cmvr.msgs.AgvUtils.AgvNavigationStatus();
     }
 
-    public static cmvr.msgs.Agv.AgvNavigationStatus getDefaultInstance() {
+    public static cmvr.msgs.AgvUtils.AgvNavigationStatus getDefaultInstance() {
       return DEFAULT_INSTANCE;
     }
 
@@ -22463,7 +22653,7 @@ java.lang.String defaultValue);
     }
 
     @java.lang.Override
-    public cmvr.msgs.Agv.AgvNavigationStatus getDefaultInstanceForType() {
+    public cmvr.msgs.AgvUtils.AgvNavigationStatus getDefaultInstanceForType() {
       return DEFAULT_INSTANCE;
     }
 
@@ -22573,86 +22763,87 @@ java.lang.String defaultValue);
       descriptor;
   static {
     java.lang.String[] descriptorData = {
-      "\n\023cmvr/msgs/agv.proto\022\tcmvr.msgs\"0\n\tAgvP" +
-      "ose2d\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\022\r\n\005theta\030\003 \001" +
-      "(\001\"1\n\013AgvVelocity\022\n\n\002vx\030\001 \001(\001\022\n\n\002vy\030\002 \001(" +
-      "\001\022\n\n\002wz\030\003 \001(\001\"n\n\017AgvBatteryState\022\022\n\nperc" +
-      "entage\030\001 \001(\001\022\017\n\007voltage\030\002 \001(\001\022\017\n\007current" +
-      "\030\003 \001(\001\022\023\n\013temperature\030\004 \001(\001\022\020\n\010charging\030" +
-      "\005 \001(\010\"\324\001\n\020AgvMotionOptions\022\021\n\tmax_speed\030" +
-      "\001 \001(\001\022\031\n\021max_angular_speed\030\002 \001(\001\022\030\n\020max_" +
-      "acceleration\030\003 \001(\001\022 \n\030max_angular_accele" +
-      "ration\030\004 \001(\001\022\026\n\016reach_distance\030\005 \001(\001\022\023\n\013" +
-      "reach_angle\030\006 \001(\001\022\023\n\013speed_ratio\030\007 \001(\001\022\024" +
-      "\n\014asynchronous\030\010 \001(\010\"z\n\020AgvAdapterParams" +
-      "\0227\n\006values\030\001 \003(\0132\'.cmvr.msgs.AgvAdapterP" +
-      "arams.ValuesEntry\032-\n\013ValuesEntry\022\013\n\003key\030" +
-      "\001 \001(\t\022\r\n\005value\030\002 \001(\t:\0028\001\"\317\002\n\017AgvRuntimeS" +
-      "tate\022\021\n\ttimestamp\030\001 \001(\001\022\014\n\004mode\030\002 \001(\005\022\021\n" +
-      "\tconnected\030\003 \001(\010\022\021\n\tlocalized\030\004 \001(\010\022\016\n\006m" +
-      "oving\030\005 \001(\010\022\r\n\005fault\030\006 \001(\010\022\031\n\021emergency_" +
-      "stopped\030\007 \001(\010\022\"\n\004pose\030\010 \001(\0132\024.cmvr.msgs." +
-      "AgvPose2d\022(\n\010velocity\030\t \001(\0132\026.cmvr.msgs." +
-      "AgvVelocity\022+\n\007battery\030\n \001(\0132\032.cmvr.msgs" +
-      ".AgvBatteryState\022\023\n\013current_map\030\013 \001(\t\022\027\n" +
-      "\017current_station\030\014 \001(\t\022\022\n\nlast_error\030\r \001" +
-      "(\t\"_\n\nAgvStation\022\n\n\002id\030\001 \001(\t\022\014\n\004type\030\002 \001" +
-      "(\t\022\"\n\004pose\030\003 \001(\0132\024.cmvr.msgs.AgvPose2d\022\023" +
-      "\n\013description\030\004 \001(\t\"@\n\016AgvPathSegment\022\026\n" +
-      "\016source_station\030\001 \001(\t\022\026\n\016target_station\030" +
-      "\002 \001(\t\"0\n\rAgvMapPoint3D\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002" +
-      " \001(\001\022\t\n\001z\030\003 \001(\001\"\307\001\n\017AgvUnifiedMap2D\022\020\n\010f" +
-      "rame_id\030\001 \001(\t\022\021\n\ttimestamp\030\002 \001(\001\022\022\n\nreso" +
-      "lution\030\003 \001(\001\022\r\n\005width\030\004 \001(\r\022\016\n\006height\030\005 " +
-      "\001(\r\022$\n\006origin\030\006 \001(\0132\024.cmvr.msgs.AgvPose2" +
-      "d\022\014\n\004data\030\007 \003(\005\022(\n\007objects\030\010 \003(\0132\027.cmvr." +
-      "msgs.AgvMapObject\"l\n\023AgvMapPointSample3D" +
-      "\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\022\t\n\001z\030\003 \001(\001\022\021\n\tint" +
-      "ensity\030\004 \001(\002\022\014\n\004ring\030\005 \001(\r\022\023\n\013time_offse" +
-      "t\030\006 \001(\001\"E\n\rAgvMapVoxel3D\022\t\n\001x\030\001 \001(\005\022\t\n\001y" +
-      "\030\002 \001(\005\022\t\n\001z\030\003 \001(\005\022\023\n\013probability\030\004 \001(\002\"~" +
-      "\n\rAgvMapPlane3D\022(\n\006center\030\001 \001(\0132\030.cmvr.m" +
-      "sgs.AgvMapPoint3D\022(\n\006normal\030\002 \001(\0132\030.cmvr" +
-      ".msgs.AgvMapPoint3D\022\t\n\001d\030\003 \001(\001\022\016\n\006radius" +
-      "\030\004 \001(\001\"\360\001\n\014AgvMapObject\022\n\n\002id\030\001 \001(\t\022)\n\004t" +
-      "ype\030\002 \001(\0162\033.cmvr.msgs.AgvMapObjectType\022(" +
-      "\n\006points\030\003 \003(\0132\030.cmvr.msgs.AgvMapPoint3D" +
-      "\022\017\n\007heading\030\004 \001(\001\022;\n\nproperties\030\005 \003(\0132\'." +
-      "cmvr.msgs.AgvMapObject.PropertiesEntry\0321" +
-      "\n\017PropertiesEntry\022\013\n\003key\030\001 \001(\t\022\r\n\005value\030" +
-      "\002 \001(\t:\0028\001\"\376\001\n\017AgvUnifiedMap3D\022\020\n\010frame_i" +
-      "d\030\001 \001(\t\022\021\n\ttimestamp\030\002 \001(\001\022\030\n\020voxel_reso" +
-      "lution\030\003 \001(\001\022.\n\006points\030\004 \003(\0132\036.cmvr.msgs" +
-      ".AgvMapPointSample3D\022(\n\006voxels\030\005 \003(\0132\030.c" +
-      "mvr.msgs.AgvMapVoxel3D\022(\n\006planes\030\006 \003(\0132\030" +
-      ".cmvr.msgs.AgvMapPlane3D\022(\n\007objects\030\007 \003(" +
-      "\0132\027.cmvr.msgs.AgvMapObject\"\246\003\n\023AgvUnifie" +
-      "dMapUpdate\022\016\n\006map_id\030\001 \001(\t\022\022\n\nsession_id" +
-      "\030\002 \001(\t\022\020\n\010sequence\030\003 \001(\004\022\024\n\014resume_token" +
-      "\030\004 \001(\t\022-\n\tdimension\030\005 \001(\0162\032.cmvr.msgs.Ag" +
-      "vMapDimension\0220\n\013update_type\030\006 \001(\0162\033.cmv" +
-      "r.msgs.AgvMapUpdateType\022\020\n\010frame_id\030\007 \001(" +
-      "\t\022\021\n\ttimestamp\030\010 \001(\001\022\026\n\016snapshot_begin\030\t" +
-      " \001(\010\022\024\n\014snapshot_end\030\n \001(\010\022\023\n\013chunk_inde" +
-      "x\030\013 \001(\r\022\023\n\013chunk_count\030\014 \001(\r\022,\n\006map_2d\030\024" +
-      " \001(\0132\032.cmvr.msgs.AgvUnifiedMap2DH\000\022,\n\006ma" +
-      "p_3d\030\025 \001(\0132\032.cmvr.msgs.AgvUnifiedMap3DH\000" +
-      "B\t\n\007payload\"U\n\023AgvNavigationStatus\022\r\n\005st" +
-      "ate\030\001 \001(\005\022\014\n\004type\030\002 \001(\005\022\020\n\010progress\030\003 \001(" +
-      "\001\022\017\n\007message\030\004 \001(\t*k\n\017AgvMapDimension\022!\n" +
-      "\035AGV_MAP_DIMENSION_UNSPECIFIED\020\000\022\016\n\nAGV_" +
-      "MAP_2D\020\001\022\016\n\nAGV_MAP_3D\020\002\022\025\n\021AGV_MAP_2D_A" +
-      "ND_3D\020\003*\211\001\n\020AgvMapUpdateType\022\036\n\032AGV_MAP_" +
-      "UPDATE_UNSPECIFIED\020\000\022\033\n\027AGV_MAP_UPDATE_S" +
-      "NAPSHOT\020\001\022\036\n\032AGV_MAP_UPDATE_INCREMENTAL\020" +
-      "\002\022\030\n\024AGV_MAP_UPDATE_RESET\020\003*\376\001\n\020AgvMapOb" +
-      "jectType\022\036\n\032AGV_MAP_OBJECT_UNSPECIFIED\020\000" +
-      "\022\032\n\026AGV_MAP_OBJECT_STATION\020\001\022\027\n\023AGV_MAP_" +
-      "OBJECT_LINE\020\002\022\027\n\023AGV_MAP_OBJECT_AREA\020\003\022\031" +
-      "\n\025AGV_MAP_OBJECT_QR_TAG\020\004\022\034\n\030AGV_MAP_OBJ" +
-      "ECT_REFLECTOR\020\005\022\037\n\033AGV_MAP_OBJECT_BIN_LO" +
-      "CATION\020\006\022\"\n\036AGV_MAP_OBJECT_EXTERNAL_DEVI" +
-      "CE\020\007b\006proto3"
+      "\n\030cmvr/api/agv_utils.proto\022\tcmvr.msgs\"0\n" +
+      "\tAgvPose2d\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\022\r\n\005thet" +
+      "a\030\003 \001(\001\"1\n\013AgvVelocity\022\n\n\002vx\030\001 \001(\001\022\n\n\002vy" +
+      "\030\002 \001(\001\022\n\n\002wz\030\003 \001(\001\"n\n\017AgvBatteryState\022\022\n" +
+      "\npercentage\030\001 \001(\001\022\017\n\007voltage\030\002 \001(\001\022\017\n\007cu" +
+      "rrent\030\003 \001(\001\022\023\n\013temperature\030\004 \001(\001\022\020\n\010char" +
+      "ging\030\005 \001(\010\"\207\002\n\020AgvMotionOptions\022\021\n\tmax_s" +
+      "peed\030\001 \001(\001\022\031\n\021max_angular_speed\030\002 \001(\001\022\030\n" +
+      "\020max_acceleration\030\003 \001(\001\022 \n\030max_angular_a" +
+      "cceleration\030\004 \001(\001\022\026\n\016reach_distance\030\005 \001(" +
+      "\001\022\023\n\013reach_angle\030\006 \001(\001\022\023\n\013speed_ratio\030\007 " +
+      "\001(\001\022\024\n\014asynchronous\030\010 \001(\010\022\027\n\017wait_timeou" +
+      "t_ms\030\t \001(\005\022\030\n\020poll_interval_ms\030\n \001(\005\"z\n\020" +
+      "AgvAdapterParams\0227\n\006values\030\001 \003(\0132\'.cmvr." +
+      "msgs.AgvAdapterParams.ValuesEntry\032-\n\013Val" +
+      "uesEntry\022\013\n\003key\030\001 \001(\t\022\r\n\005value\030\002 \001(\t:\0028\001" +
+      "\"\317\002\n\017AgvRuntimeState\022\021\n\ttimestamp\030\001 \001(\001\022" +
+      "\014\n\004mode\030\002 \001(\005\022\021\n\tconnected\030\003 \001(\010\022\021\n\tloca" +
+      "lized\030\004 \001(\010\022\016\n\006moving\030\005 \001(\010\022\r\n\005fault\030\006 \001" +
+      "(\010\022\031\n\021emergency_stopped\030\007 \001(\010\022\"\n\004pose\030\010 " +
+      "\001(\0132\024.cmvr.msgs.AgvPose2d\022(\n\010velocity\030\t " +
+      "\001(\0132\026.cmvr.msgs.AgvVelocity\022+\n\007battery\030\n" +
+      " \001(\0132\032.cmvr.msgs.AgvBatteryState\022\023\n\013curr" +
+      "ent_map\030\013 \001(\t\022\027\n\017current_station\030\014 \001(\t\022\022" +
+      "\n\nlast_error\030\r \001(\t\"_\n\nAgvStation\022\n\n\002id\030\001" +
+      " \001(\t\022\014\n\004type\030\002 \001(\t\022\"\n\004pose\030\003 \001(\0132\024.cmvr." +
+      "msgs.AgvPose2d\022\023\n\013description\030\004 \001(\t\"@\n\016A" +
+      "gvPathSegment\022\026\n\016source_station\030\001 \001(\t\022\026\n" +
+      "\016target_station\030\002 \001(\t\"0\n\rAgvMapPoint3D\022\t" +
+      "\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\022\t\n\001z\030\003 \001(\001\"\307\001\n\017AgvU" +
+      "nifiedMap2D\022\020\n\010frame_id\030\001 \001(\t\022\021\n\ttimesta" +
+      "mp\030\002 \001(\001\022\022\n\nresolution\030\003 \001(\001\022\r\n\005width\030\004 " +
+      "\001(\r\022\016\n\006height\030\005 \001(\r\022$\n\006origin\030\006 \001(\0132\024.cm" +
+      "vr.msgs.AgvPose2d\022\014\n\004data\030\007 \003(\005\022(\n\007objec" +
+      "ts\030\010 \003(\0132\027.cmvr.msgs.AgvMapObject\"l\n\023Agv" +
+      "MapPointSample3D\022\t\n\001x\030\001 \001(\001\022\t\n\001y\030\002 \001(\001\022\t" +
+      "\n\001z\030\003 \001(\001\022\021\n\tintensity\030\004 \001(\002\022\014\n\004ring\030\005 \001" +
+      "(\r\022\023\n\013time_offset\030\006 \001(\001\"E\n\rAgvMapVoxel3D" +
+      "\022\t\n\001x\030\001 \001(\005\022\t\n\001y\030\002 \001(\005\022\t\n\001z\030\003 \001(\005\022\023\n\013pro" +
+      "bability\030\004 \001(\002\"~\n\rAgvMapPlane3D\022(\n\006cente" +
+      "r\030\001 \001(\0132\030.cmvr.msgs.AgvMapPoint3D\022(\n\006nor" +
+      "mal\030\002 \001(\0132\030.cmvr.msgs.AgvMapPoint3D\022\t\n\001d" +
+      "\030\003 \001(\001\022\016\n\006radius\030\004 \001(\001\"\360\001\n\014AgvMapObject\022" +
+      "\n\n\002id\030\001 \001(\t\022)\n\004type\030\002 \001(\0162\033.cmvr.msgs.Ag" +
+      "vMapObjectType\022(\n\006points\030\003 \003(\0132\030.cmvr.ms" +
+      "gs.AgvMapPoint3D\022\017\n\007heading\030\004 \001(\001\022;\n\npro" +
+      "perties\030\005 \003(\0132\'.cmvr.msgs.AgvMapObject.P" +
+      "ropertiesEntry\0321\n\017PropertiesEntry\022\013\n\003key" +
+      "\030\001 \001(\t\022\r\n\005value\030\002 \001(\t:\0028\001\"\376\001\n\017AgvUnified" +
+      "Map3D\022\020\n\010frame_id\030\001 \001(\t\022\021\n\ttimestamp\030\002 \001" +
+      "(\001\022\030\n\020voxel_resolution\030\003 \001(\001\022.\n\006points\030\004" +
+      " \003(\0132\036.cmvr.msgs.AgvMapPointSample3D\022(\n\006" +
+      "voxels\030\005 \003(\0132\030.cmvr.msgs.AgvMapVoxel3D\022(" +
+      "\n\006planes\030\006 \003(\0132\030.cmvr.msgs.AgvMapPlane3D" +
+      "\022(\n\007objects\030\007 \003(\0132\027.cmvr.msgs.AgvMapObje" +
+      "ct\"\246\003\n\023AgvUnifiedMapUpdate\022\016\n\006map_id\030\001 \001" +
+      "(\t\022\022\n\nsession_id\030\002 \001(\t\022\020\n\010sequence\030\003 \001(\004" +
+      "\022\024\n\014resume_token\030\004 \001(\t\022-\n\tdimension\030\005 \001(" +
+      "\0162\032.cmvr.msgs.AgvMapDimension\0220\n\013update_" +
+      "type\030\006 \001(\0162\033.cmvr.msgs.AgvMapUpdateType\022" +
+      "\020\n\010frame_id\030\007 \001(\t\022\021\n\ttimestamp\030\010 \001(\001\022\026\n\016" +
+      "snapshot_begin\030\t \001(\010\022\024\n\014snapshot_end\030\n \001" +
+      "(\010\022\023\n\013chunk_index\030\013 \001(\r\022\023\n\013chunk_count\030\014" +
+      " \001(\r\022,\n\006map_2d\030\024 \001(\0132\032.cmvr.msgs.AgvUnif" +
+      "iedMap2DH\000\022,\n\006map_3d\030\025 \001(\0132\032.cmvr.msgs.A" +
+      "gvUnifiedMap3DH\000B\t\n\007payload\"U\n\023AgvNaviga" +
+      "tionStatus\022\r\n\005state\030\001 \001(\005\022\014\n\004type\030\002 \001(\005\022" +
+      "\020\n\010progress\030\003 \001(\001\022\017\n\007message\030\004 \001(\t*k\n\017Ag" +
+      "vMapDimension\022!\n\035AGV_MAP_DIMENSION_UNSPE" +
+      "CIFIED\020\000\022\016\n\nAGV_MAP_2D\020\001\022\016\n\nAGV_MAP_3D\020\002" +
+      "\022\025\n\021AGV_MAP_2D_AND_3D\020\003*\211\001\n\020AgvMapUpdate" +
+      "Type\022\036\n\032AGV_MAP_UPDATE_UNSPECIFIED\020\000\022\033\n\027" +
+      "AGV_MAP_UPDATE_SNAPSHOT\020\001\022\036\n\032AGV_MAP_UPD" +
+      "ATE_INCREMENTAL\020\002\022\030\n\024AGV_MAP_UPDATE_RESE" +
+      "T\020\003*\376\001\n\020AgvMapObjectType\022\036\n\032AGV_MAP_OBJE" +
+      "CT_UNSPECIFIED\020\000\022\032\n\026AGV_MAP_OBJECT_STATI" +
+      "ON\020\001\022\027\n\023AGV_MAP_OBJECT_LINE\020\002\022\027\n\023AGV_MAP" +
+      "_OBJECT_AREA\020\003\022\031\n\025AGV_MAP_OBJECT_QR_TAG\020" +
+      "\004\022\034\n\030AGV_MAP_OBJECT_REFLECTOR\020\005\022\037\n\033AGV_M" +
+      "AP_OBJECT_BIN_LOCATION\020\006\022\"\n\036AGV_MAP_OBJE" +
+      "CT_EXTERNAL_DEVICE\020\007b\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
@@ -22681,7 +22872,7 @@ java.lang.String defaultValue);
     internal_static_cmvr_msgs_AgvMotionOptions_fieldAccessorTable = new
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_msgs_AgvMotionOptions_descriptor,
-        new java.lang.String[] { "MaxSpeed", "MaxAngularSpeed", "MaxAcceleration", "MaxAngularAcceleration", "ReachDistance", "ReachAngle", "SpeedRatio", "Asynchronous", });
+        new java.lang.String[] { "MaxSpeed", "MaxAngularSpeed", "MaxAcceleration", "MaxAngularAcceleration", "ReachDistance", "ReachAngle", "SpeedRatio", "Asynchronous", "WaitTimeoutMs", "PollIntervalMs", });
     internal_static_cmvr_msgs_AgvAdapterParams_descriptor =
       getDescriptor().getMessageTypes().get(4);
     internal_static_cmvr_msgs_AgvAdapterParams_fieldAccessorTable = new
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/CanCardParameter.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/CanCardParameter.java
new file mode 100644
index 0000000..73df58a
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/CanCardParameter.java
@@ -0,0 +1,2159 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/msgs/can_card_parameter.proto
+
+package cmvr.msgs;
+
+public final class CanCardParameter {
+  private CanCardParameter() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+  public interface CANCardParameterOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.msgs.CANCardParameter)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * 
+     * CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANCardBrand brand = 1;
+     * @return Whether the brand field is set.
+     */
+    boolean hasBrand();
+    /**
+     * 
+     * CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANCardBrand brand = 1;
+     * @return The enum numeric value on the wire for brand.
+     */
+    int getBrandValue();
+    /**
+     * 
+     * CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANCardBrand brand = 1;
+     * @return The brand.
+     */
+    cmvr.msgs.CanCardParameter.CANCardParameter.CANCardBrand getBrand();
+
+    /**
+     * 
+     * CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANCardType type = 2;
+     * @return Whether the type field is set.
+     */
+    boolean hasType();
+    /**
+     * 
+     * CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANCardType type = 2;
+     * @return The enum numeric value on the wire for type.
+     */
+    int getTypeValue();
+    /**
+     * 
+     * CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANCardType type = 2;
+     * @return The type.
+     */
+    cmvr.msgs.CanCardParameter.CANCardParameter.CANCardType getType();
+
+    /**
+     * 
+     * CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANChannelId channel_id = 3;
+     * @return Whether the channelId field is set.
+     */
+    boolean hasChannelId();
+    /**
+     * 
+     * CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANChannelId channel_id = 3;
+     * @return The enum numeric value on the wire for channelId.
+     */
+    int getChannelIdValue();
+    /**
+     * 
+     * CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANChannelId channel_id = 3;
+     * @return The channelId.
+     */
+    cmvr.msgs.CanCardParameter.CANCardParameter.CANChannelId getChannelId();
+
+    /**
+     * 
+     * CAN卡软件接口配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANInterface interface = 4;
+     * @return Whether the interface field is set.
+     */
+    boolean hasInterface();
+    /**
+     * 
+     * CAN卡软件接口配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANInterface interface = 4;
+     * @return The enum numeric value on the wire for interface.
+     */
+    int getInterfaceValue();
+    /**
+     * 
+     * CAN卡软件接口配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANInterface interface = 4;
+     * @return The interface.
+     */
+    cmvr.msgs.CanCardParameter.CANCardParameter.CANInterface getInterface();
+
+    /**
+     * 
+     * CAN卡端口数量配置
+     * 

+     *
+     * optional uint32 num_ports = 5;
+     * @return Whether the numPorts field is set.
+     */
+    boolean hasNumPorts();
+    /**
+     * 
+     * CAN卡端口数量配置
+     * 

+     *
+     * optional uint32 num_ports = 5;
+     * @return The numPorts.
+     */
+    int getNumPorts();
+
+    /**
+     * 
+     * CAN卡波特率配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.BAUDRATE baudrate = 6;
+     * @return Whether the baudrate field is set.
+     */
+    boolean hasBaudrate();
+    /**
+     * 
+     * CAN卡波特率配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.BAUDRATE baudrate = 6;
+     * @return The enum numeric value on the wire for baudrate.
+     */
+    int getBaudrateValue();
+    /**
+     * 
+     * CAN卡波特率配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.BAUDRATE baudrate = 6;
+     * @return The baudrate.
+     */
+    cmvr.msgs.CanCardParameter.CANCardParameter.BAUDRATE getBaudrate();
+  }
+  /**
+   * Protobuf type {@code cmvr.msgs.CANCardParameter}
+   */
+  public static final class CANCardParameter extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.msgs.CANCardParameter)
+      CANCardParameterOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use CANCardParameter.newBuilder() to construct.
+    private CANCardParameter(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private CANCardParameter() {
+      brand_ = 0;
+      type_ = 0;
+      channelId_ = 0;
+      interface_ = 0;
+      baudrate_ = 0;
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new CANCardParameter();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.msgs.CanCardParameter.internal_static_cmvr_msgs_CANCardParameter_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.msgs.CanCardParameter.internal_static_cmvr_msgs_CANCardParameter_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.msgs.CanCardParameter.CANCardParameter.class, cmvr.msgs.CanCardParameter.CANCardParameter.Builder.class);
+    }
+
+    /**
+     * Protobuf enum {@code cmvr.msgs.CANCardParameter.CANCardBrand}
+     */
+    public enum CANCardBrand
+        implements com.google.protobuf.ProtocolMessageEnum {
+      /**
+       * FAKE_CAN = 0;
+       */
+      FAKE_CAN(0),
+      /**
+       * ESD_CAN = 1;
+       */
+      ESD_CAN(1),
+      /**
+       * SOCKET_CAN_RAW = 2;
+       */
+      SOCKET_CAN_RAW(2),
+      /**
+       * HERMES_CAN = 3;
+       */
+      HERMES_CAN(3),
+      UNRECOGNIZED(-1),
+      ;
+
+      /**
+       * FAKE_CAN = 0;
+       */
+      public static final int FAKE_CAN_VALUE = 0;
+      /**
+       * ESD_CAN = 1;
+       */
+      public static final int ESD_CAN_VALUE = 1;
+      /**
+       * SOCKET_CAN_RAW = 2;
+       */
+      public static final int SOCKET_CAN_RAW_VALUE = 2;
+      /**
+       * HERMES_CAN = 3;
+       */
+      public static final int HERMES_CAN_VALUE = 3;
+
+
+      public final int getNumber() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalArgumentException(
+              "Can't get the number of an unknown enum value.");
+        }
+        return value;
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static CANCardBrand valueOf(int value) {
+        return forNumber(value);
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       */
+      public static CANCardBrand forNumber(int value) {
+        switch (value) {
+          case 0: return FAKE_CAN;
+          case 1: return ESD_CAN;
+          case 2: return SOCKET_CAN_RAW;
+          case 3: return HERMES_CAN;
+          default: return null;
+        }
+      }
+
+      public static com.google.protobuf.Internal.EnumLiteMap
+          internalGetValueMap() {
+        return internalValueMap;
+      }
+      private static final com.google.protobuf.Internal.EnumLiteMap<
+          CANCardBrand> internalValueMap =
+            new com.google.protobuf.Internal.EnumLiteMap() {
+              public CANCardBrand findValueByNumber(int number) {
+                return CANCardBrand.forNumber(number);
+              }
+            };
+
+      public final com.google.protobuf.Descriptors.EnumValueDescriptor
+          getValueDescriptor() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalStateException(
+              "Can't get the descriptor of an unrecognized enum value.");
+        }
+        return getDescriptor().getValues().get(ordinal());
+      }
+      public final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptorForType() {
+        return getDescriptor();
+      }
+      public static final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptor() {
+        return cmvr.msgs.CanCardParameter.CANCardParameter.getDescriptor().getEnumTypes().get(0);
+      }
+
+      private static final CANCardBrand[] VALUES = values();
+
+      public static CANCardBrand valueOf(
+          com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+        if (desc.getType() != getDescriptor()) {
+          throw new java.lang.IllegalArgumentException(
+            "EnumValueDescriptor is not for this type.");
+        }
+        if (desc.getIndex() == -1) {
+          return UNRECOGNIZED;
+        }
+        return VALUES[desc.getIndex()];
+      }
+
+      private final int value;
+
+      private CANCardBrand(int value) {
+        this.value = value;
+      }
+
+      // @@protoc_insertion_point(enum_scope:cmvr.msgs.CANCardParameter.CANCardBrand)
+    }
+
+    /**
+     * Protobuf enum {@code cmvr.msgs.CANCardParameter.CANCardType}
+     */
+    public enum CANCardType
+        implements com.google.protobuf.ProtocolMessageEnum {
+      /**
+       * PCI_CARD = 0;
+       */
+      PCI_CARD(0),
+      /**
+       * USB_CARD = 1;
+       */
+      USB_CARD(1),
+      UNRECOGNIZED(-1),
+      ;
+
+      /**
+       * PCI_CARD = 0;
+       */
+      public static final int PCI_CARD_VALUE = 0;
+      /**
+       * USB_CARD = 1;
+       */
+      public static final int USB_CARD_VALUE = 1;
+
+
+      public final int getNumber() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalArgumentException(
+              "Can't get the number of an unknown enum value.");
+        }
+        return value;
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static CANCardType valueOf(int value) {
+        return forNumber(value);
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       */
+      public static CANCardType forNumber(int value) {
+        switch (value) {
+          case 0: return PCI_CARD;
+          case 1: return USB_CARD;
+          default: return null;
+        }
+      }
+
+      public static com.google.protobuf.Internal.EnumLiteMap
+          internalGetValueMap() {
+        return internalValueMap;
+      }
+      private static final com.google.protobuf.Internal.EnumLiteMap<
+          CANCardType> internalValueMap =
+            new com.google.protobuf.Internal.EnumLiteMap() {
+              public CANCardType findValueByNumber(int number) {
+                return CANCardType.forNumber(number);
+              }
+            };
+
+      public final com.google.protobuf.Descriptors.EnumValueDescriptor
+          getValueDescriptor() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalStateException(
+              "Can't get the descriptor of an unrecognized enum value.");
+        }
+        return getDescriptor().getValues().get(ordinal());
+      }
+      public final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptorForType() {
+        return getDescriptor();
+      }
+      public static final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptor() {
+        return cmvr.msgs.CanCardParameter.CANCardParameter.getDescriptor().getEnumTypes().get(1);
+      }
+
+      private static final CANCardType[] VALUES = values();
+
+      public static CANCardType valueOf(
+          com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+        if (desc.getType() != getDescriptor()) {
+          throw new java.lang.IllegalArgumentException(
+            "EnumValueDescriptor is not for this type.");
+        }
+        if (desc.getIndex() == -1) {
+          return UNRECOGNIZED;
+        }
+        return VALUES[desc.getIndex()];
+      }
+
+      private final int value;
+
+      private CANCardType(int value) {
+        this.value = value;
+      }
+
+      // @@protoc_insertion_point(enum_scope:cmvr.msgs.CANCardParameter.CANCardType)
+    }
+
+    /**
+     * Protobuf enum {@code cmvr.msgs.CANCardParameter.CANChannelId}
+     */
+    public enum CANChannelId
+        implements com.google.protobuf.ProtocolMessageEnum {
+      /**
+       * CHANNEL_ID_ZERO = 0;
+       */
+      CHANNEL_ID_ZERO(0),
+      /**
+       * CHANNEL_ID_ONE = 1;
+       */
+      CHANNEL_ID_ONE(1),
+      /**
+       * CHANNEL_ID_TWO = 2;
+       */
+      CHANNEL_ID_TWO(2),
+      /**
+       * CHANNEL_ID_THREE = 3;
+       */
+      CHANNEL_ID_THREE(3),
+      /**
+       * CHANNEL_ID_FOUR = 4;
+       */
+      CHANNEL_ID_FOUR(4),
+      /**
+       * CHANNEL_ID_FIVE = 5;
+       */
+      CHANNEL_ID_FIVE(5),
+      /**
+       * CHANNEL_ID_SIX = 6;
+       */
+      CHANNEL_ID_SIX(6),
+      /**
+       * CHANNEL_ID_SEVEN = 7;
+       */
+      CHANNEL_ID_SEVEN(7),
+      UNRECOGNIZED(-1),
+      ;
+
+      /**
+       * CHANNEL_ID_ZERO = 0;
+       */
+      public static final int CHANNEL_ID_ZERO_VALUE = 0;
+      /**
+       * CHANNEL_ID_ONE = 1;
+       */
+      public static final int CHANNEL_ID_ONE_VALUE = 1;
+      /**
+       * CHANNEL_ID_TWO = 2;
+       */
+      public static final int CHANNEL_ID_TWO_VALUE = 2;
+      /**
+       * CHANNEL_ID_THREE = 3;
+       */
+      public static final int CHANNEL_ID_THREE_VALUE = 3;
+      /**
+       * CHANNEL_ID_FOUR = 4;
+       */
+      public static final int CHANNEL_ID_FOUR_VALUE = 4;
+      /**
+       * CHANNEL_ID_FIVE = 5;
+       */
+      public static final int CHANNEL_ID_FIVE_VALUE = 5;
+      /**
+       * CHANNEL_ID_SIX = 6;
+       */
+      public static final int CHANNEL_ID_SIX_VALUE = 6;
+      /**
+       * CHANNEL_ID_SEVEN = 7;
+       */
+      public static final int CHANNEL_ID_SEVEN_VALUE = 7;
+
+
+      public final int getNumber() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalArgumentException(
+              "Can't get the number of an unknown enum value.");
+        }
+        return value;
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static CANChannelId valueOf(int value) {
+        return forNumber(value);
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       */
+      public static CANChannelId forNumber(int value) {
+        switch (value) {
+          case 0: return CHANNEL_ID_ZERO;
+          case 1: return CHANNEL_ID_ONE;
+          case 2: return CHANNEL_ID_TWO;
+          case 3: return CHANNEL_ID_THREE;
+          case 4: return CHANNEL_ID_FOUR;
+          case 5: return CHANNEL_ID_FIVE;
+          case 6: return CHANNEL_ID_SIX;
+          case 7: return CHANNEL_ID_SEVEN;
+          default: return null;
+        }
+      }
+
+      public static com.google.protobuf.Internal.EnumLiteMap
+          internalGetValueMap() {
+        return internalValueMap;
+      }
+      private static final com.google.protobuf.Internal.EnumLiteMap<
+          CANChannelId> internalValueMap =
+            new com.google.protobuf.Internal.EnumLiteMap() {
+              public CANChannelId findValueByNumber(int number) {
+                return CANChannelId.forNumber(number);
+              }
+            };
+
+      public final com.google.protobuf.Descriptors.EnumValueDescriptor
+          getValueDescriptor() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalStateException(
+              "Can't get the descriptor of an unrecognized enum value.");
+        }
+        return getDescriptor().getValues().get(ordinal());
+      }
+      public final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptorForType() {
+        return getDescriptor();
+      }
+      public static final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptor() {
+        return cmvr.msgs.CanCardParameter.CANCardParameter.getDescriptor().getEnumTypes().get(2);
+      }
+
+      private static final CANChannelId[] VALUES = values();
+
+      public static CANChannelId valueOf(
+          com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+        if (desc.getType() != getDescriptor()) {
+          throw new java.lang.IllegalArgumentException(
+            "EnumValueDescriptor is not for this type.");
+        }
+        if (desc.getIndex() == -1) {
+          return UNRECOGNIZED;
+        }
+        return VALUES[desc.getIndex()];
+      }
+
+      private final int value;
+
+      private CANChannelId(int value) {
+        this.value = value;
+      }
+
+      // @@protoc_insertion_point(enum_scope:cmvr.msgs.CANCardParameter.CANChannelId)
+    }
+
+    /**
+     * Protobuf enum {@code cmvr.msgs.CANCardParameter.CANInterface}
+     */
+    public enum CANInterface
+        implements com.google.protobuf.ProtocolMessageEnum {
+      /**
+       * NATIVE = 0;
+       */
+      NATIVE(0),
+      /**
+       * VIRTUAL = 1;
+       */
+      VIRTUAL(1),
+      /**
+       * SLCAN = 2;
+       */
+      SLCAN(2),
+      UNRECOGNIZED(-1),
+      ;
+
+      /**
+       * NATIVE = 0;
+       */
+      public static final int NATIVE_VALUE = 0;
+      /**
+       * VIRTUAL = 1;
+       */
+      public static final int VIRTUAL_VALUE = 1;
+      /**
+       * SLCAN = 2;
+       */
+      public static final int SLCAN_VALUE = 2;
+
+
+      public final int getNumber() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalArgumentException(
+              "Can't get the number of an unknown enum value.");
+        }
+        return value;
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static CANInterface valueOf(int value) {
+        return forNumber(value);
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       */
+      public static CANInterface forNumber(int value) {
+        switch (value) {
+          case 0: return NATIVE;
+          case 1: return VIRTUAL;
+          case 2: return SLCAN;
+          default: return null;
+        }
+      }
+
+      public static com.google.protobuf.Internal.EnumLiteMap
+          internalGetValueMap() {
+        return internalValueMap;
+      }
+      private static final com.google.protobuf.Internal.EnumLiteMap<
+          CANInterface> internalValueMap =
+            new com.google.protobuf.Internal.EnumLiteMap() {
+              public CANInterface findValueByNumber(int number) {
+                return CANInterface.forNumber(number);
+              }
+            };
+
+      public final com.google.protobuf.Descriptors.EnumValueDescriptor
+          getValueDescriptor() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalStateException(
+              "Can't get the descriptor of an unrecognized enum value.");
+        }
+        return getDescriptor().getValues().get(ordinal());
+      }
+      public final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptorForType() {
+        return getDescriptor();
+      }
+      public static final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptor() {
+        return cmvr.msgs.CanCardParameter.CANCardParameter.getDescriptor().getEnumTypes().get(3);
+      }
+
+      private static final CANInterface[] VALUES = values();
+
+      public static CANInterface valueOf(
+          com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+        if (desc.getType() != getDescriptor()) {
+          throw new java.lang.IllegalArgumentException(
+            "EnumValueDescriptor is not for this type.");
+        }
+        if (desc.getIndex() == -1) {
+          return UNRECOGNIZED;
+        }
+        return VALUES[desc.getIndex()];
+      }
+
+      private final int value;
+
+      private CANInterface(int value) {
+        this.value = value;
+      }
+
+      // @@protoc_insertion_point(enum_scope:cmvr.msgs.CANCardParameter.CANInterface)
+    }
+
+    /**
+     * Protobuf enum {@code cmvr.msgs.CANCardParameter.BAUDRATE}
+     */
+    public enum BAUDRATE
+        implements com.google.protobuf.ProtocolMessageEnum {
+      /**
+       * BCAN_BAUDRATE_1M = 0;
+       */
+      BCAN_BAUDRATE_1M(0),
+      /**
+       * BCAN_BAUDRATE_500K = 1;
+       */
+      BCAN_BAUDRATE_500K(1),
+      /**
+       * BCAN_BAUDRATE_250K = 2;
+       */
+      BCAN_BAUDRATE_250K(2),
+      /**
+       * BCAN_BAUDRATE_150K = 3;
+       */
+      BCAN_BAUDRATE_150K(3),
+      /**
+       * BCAN_BAUDRATE_NUM = 4;
+       */
+      BCAN_BAUDRATE_NUM(4),
+      UNRECOGNIZED(-1),
+      ;
+
+      /**
+       * BCAN_BAUDRATE_1M = 0;
+       */
+      public static final int BCAN_BAUDRATE_1M_VALUE = 0;
+      /**
+       * BCAN_BAUDRATE_500K = 1;
+       */
+      public static final int BCAN_BAUDRATE_500K_VALUE = 1;
+      /**
+       * BCAN_BAUDRATE_250K = 2;
+       */
+      public static final int BCAN_BAUDRATE_250K_VALUE = 2;
+      /**
+       * BCAN_BAUDRATE_150K = 3;
+       */
+      public static final int BCAN_BAUDRATE_150K_VALUE = 3;
+      /**
+       * BCAN_BAUDRATE_NUM = 4;
+       */
+      public static final int BCAN_BAUDRATE_NUM_VALUE = 4;
+
+
+      public final int getNumber() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalArgumentException(
+              "Can't get the number of an unknown enum value.");
+        }
+        return value;
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       * @deprecated Use {@link #forNumber(int)} instead.
+       */
+      @java.lang.Deprecated
+      public static BAUDRATE valueOf(int value) {
+        return forNumber(value);
+      }
+
+      /**
+       * @param value The numeric wire value of the corresponding enum entry.
+       * @return The enum associated with the given numeric wire value.
+       */
+      public static BAUDRATE forNumber(int value) {
+        switch (value) {
+          case 0: return BCAN_BAUDRATE_1M;
+          case 1: return BCAN_BAUDRATE_500K;
+          case 2: return BCAN_BAUDRATE_250K;
+          case 3: return BCAN_BAUDRATE_150K;
+          case 4: return BCAN_BAUDRATE_NUM;
+          default: return null;
+        }
+      }
+
+      public static com.google.protobuf.Internal.EnumLiteMap
+          internalGetValueMap() {
+        return internalValueMap;
+      }
+      private static final com.google.protobuf.Internal.EnumLiteMap<
+          BAUDRATE> internalValueMap =
+            new com.google.protobuf.Internal.EnumLiteMap() {
+              public BAUDRATE findValueByNumber(int number) {
+                return BAUDRATE.forNumber(number);
+              }
+            };
+
+      public final com.google.protobuf.Descriptors.EnumValueDescriptor
+          getValueDescriptor() {
+        if (this == UNRECOGNIZED) {
+          throw new java.lang.IllegalStateException(
+              "Can't get the descriptor of an unrecognized enum value.");
+        }
+        return getDescriptor().getValues().get(ordinal());
+      }
+      public final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptorForType() {
+        return getDescriptor();
+      }
+      public static final com.google.protobuf.Descriptors.EnumDescriptor
+          getDescriptor() {
+        return cmvr.msgs.CanCardParameter.CANCardParameter.getDescriptor().getEnumTypes().get(4);
+      }
+
+      private static final BAUDRATE[] VALUES = values();
+
+      public static BAUDRATE valueOf(
+          com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+        if (desc.getType() != getDescriptor()) {
+          throw new java.lang.IllegalArgumentException(
+            "EnumValueDescriptor is not for this type.");
+        }
+        if (desc.getIndex() == -1) {
+          return UNRECOGNIZED;
+        }
+        return VALUES[desc.getIndex()];
+      }
+
+      private final int value;
+
+      private BAUDRATE(int value) {
+        this.value = value;
+      }
+
+      // @@protoc_insertion_point(enum_scope:cmvr.msgs.CANCardParameter.BAUDRATE)
+    }
+
+    private int bitField0_;
+    public static final int BRAND_FIELD_NUMBER = 1;
+    private int brand_;
+    /**
+     * 
+     * CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANCardBrand brand = 1;
+     * @return Whether the brand field is set.
+     */
+    @java.lang.Override public boolean hasBrand() {
+      return ((bitField0_ & 0x00000001) != 0);
+    }
+    /**
+     * 
+     * CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANCardBrand brand = 1;
+     * @return The enum numeric value on the wire for brand.
+     */
+    @java.lang.Override public int getBrandValue() {
+      return brand_;
+    }
+    /**
+     * 
+     * CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANCardBrand brand = 1;
+     * @return The brand.
+     */
+    @java.lang.Override public cmvr.msgs.CanCardParameter.CANCardParameter.CANCardBrand getBrand() {
+      @SuppressWarnings("deprecation")
+      cmvr.msgs.CanCardParameter.CANCardParameter.CANCardBrand result = cmvr.msgs.CanCardParameter.CANCardParameter.CANCardBrand.valueOf(brand_);
+      return result == null ? cmvr.msgs.CanCardParameter.CANCardParameter.CANCardBrand.UNRECOGNIZED : result;
+    }
+
+    public static final int TYPE_FIELD_NUMBER = 2;
+    private int type_;
+    /**
+     * 
+     * CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANCardType type = 2;
+     * @return Whether the type field is set.
+     */
+    @java.lang.Override public boolean hasType() {
+      return ((bitField0_ & 0x00000002) != 0);
+    }
+    /**
+     * 
+     * CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANCardType type = 2;
+     * @return The enum numeric value on the wire for type.
+     */
+    @java.lang.Override public int getTypeValue() {
+      return type_;
+    }
+    /**
+     * 
+     * CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANCardType type = 2;
+     * @return The type.
+     */
+    @java.lang.Override public cmvr.msgs.CanCardParameter.CANCardParameter.CANCardType getType() {
+      @SuppressWarnings("deprecation")
+      cmvr.msgs.CanCardParameter.CANCardParameter.CANCardType result = cmvr.msgs.CanCardParameter.CANCardParameter.CANCardType.valueOf(type_);
+      return result == null ? cmvr.msgs.CanCardParameter.CANCardParameter.CANCardType.UNRECOGNIZED : result;
+    }
+
+    public static final int CHANNEL_ID_FIELD_NUMBER = 3;
+    private int channelId_;
+    /**
+     * 
+     * CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANChannelId channel_id = 3;
+     * @return Whether the channelId field is set.
+     */
+    @java.lang.Override public boolean hasChannelId() {
+      return ((bitField0_ & 0x00000004) != 0);
+    }
+    /**
+     * 
+     * CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANChannelId channel_id = 3;
+     * @return The enum numeric value on the wire for channelId.
+     */
+    @java.lang.Override public int getChannelIdValue() {
+      return channelId_;
+    }
+    /**
+     * 
+     * CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANChannelId channel_id = 3;
+     * @return The channelId.
+     */
+    @java.lang.Override public cmvr.msgs.CanCardParameter.CANCardParameter.CANChannelId getChannelId() {
+      @SuppressWarnings("deprecation")
+      cmvr.msgs.CanCardParameter.CANCardParameter.CANChannelId result = cmvr.msgs.CanCardParameter.CANCardParameter.CANChannelId.valueOf(channelId_);
+      return result == null ? cmvr.msgs.CanCardParameter.CANCardParameter.CANChannelId.UNRECOGNIZED : result;
+    }
+
+    public static final int INTERFACE_FIELD_NUMBER = 4;
+    private int interface_;
+    /**
+     * 
+     * CAN卡软件接口配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANInterface interface = 4;
+     * @return Whether the interface field is set.
+     */
+    @java.lang.Override public boolean hasInterface() {
+      return ((bitField0_ & 0x00000008) != 0);
+    }
+    /**
+     * 
+     * CAN卡软件接口配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANInterface interface = 4;
+     * @return The enum numeric value on the wire for interface.
+     */
+    @java.lang.Override public int getInterfaceValue() {
+      return interface_;
+    }
+    /**
+     * 
+     * CAN卡软件接口配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.CANInterface interface = 4;
+     * @return The interface.
+     */
+    @java.lang.Override public cmvr.msgs.CanCardParameter.CANCardParameter.CANInterface getInterface() {
+      @SuppressWarnings("deprecation")
+      cmvr.msgs.CanCardParameter.CANCardParameter.CANInterface result = cmvr.msgs.CanCardParameter.CANCardParameter.CANInterface.valueOf(interface_);
+      return result == null ? cmvr.msgs.CanCardParameter.CANCardParameter.CANInterface.UNRECOGNIZED : result;
+    }
+
+    public static final int NUM_PORTS_FIELD_NUMBER = 5;
+    private int numPorts_;
+    /**
+     * 
+     * CAN卡端口数量配置
+     * 

+     *
+     * optional uint32 num_ports = 5;
+     * @return Whether the numPorts field is set.
+     */
+    @java.lang.Override
+    public boolean hasNumPorts() {
+      return ((bitField0_ & 0x00000010) != 0);
+    }
+    /**
+     * 
+     * CAN卡端口数量配置
+     * 

+     *
+     * optional uint32 num_ports = 5;
+     * @return The numPorts.
+     */
+    @java.lang.Override
+    public int getNumPorts() {
+      return numPorts_;
+    }
+
+    public static final int BAUDRATE_FIELD_NUMBER = 6;
+    private int baudrate_;
+    /**
+     * 
+     * CAN卡波特率配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.BAUDRATE baudrate = 6;
+     * @return Whether the baudrate field is set.
+     */
+    @java.lang.Override public boolean hasBaudrate() {
+      return ((bitField0_ & 0x00000020) != 0);
+    }
+    /**
+     * 
+     * CAN卡波特率配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.BAUDRATE baudrate = 6;
+     * @return The enum numeric value on the wire for baudrate.
+     */
+    @java.lang.Override public int getBaudrateValue() {
+      return baudrate_;
+    }
+    /**
+     * 
+     * CAN卡波特率配置
+     * 

+     *
+     * optional .cmvr.msgs.CANCardParameter.BAUDRATE baudrate = 6;
+     * @return The baudrate.
+     */
+    @java.lang.Override public cmvr.msgs.CanCardParameter.CANCardParameter.BAUDRATE getBaudrate() {
+      @SuppressWarnings("deprecation")
+      cmvr.msgs.CanCardParameter.CANCardParameter.BAUDRATE result = cmvr.msgs.CanCardParameter.CANCardParameter.BAUDRATE.valueOf(baudrate_);
+      return result == null ? cmvr.msgs.CanCardParameter.CANCardParameter.BAUDRATE.UNRECOGNIZED : result;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (((bitField0_ & 0x00000001) != 0)) {
+        output.writeEnum(1, brand_);
+      }
+      if (((bitField0_ & 0x00000002) != 0)) {
+        output.writeEnum(2, type_);
+      }
+      if (((bitField0_ & 0x00000004) != 0)) {
+        output.writeEnum(3, channelId_);
+      }
+      if (((bitField0_ & 0x00000008) != 0)) {
+        output.writeEnum(4, interface_);
+      }
+      if (((bitField0_ & 0x00000010) != 0)) {
+        output.writeUInt32(5, numPorts_);
+      }
+      if (((bitField0_ & 0x00000020) != 0)) {
+        output.writeEnum(6, baudrate_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (((bitField0_ & 0x00000001) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeEnumSize(1, brand_);
+      }
+      if (((bitField0_ & 0x00000002) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeEnumSize(2, type_);
+      }
+      if (((bitField0_ & 0x00000004) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeEnumSize(3, channelId_);
+      }
+      if (((bitField0_ & 0x00000008) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeEnumSize(4, interface_);
+      }
+      if (((bitField0_ & 0x00000010) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(5, numPorts_);
+      }
+      if (((bitField0_ & 0x00000020) != 0)) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeEnumSize(6, baudrate_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.msgs.CanCardParameter.CANCardParameter)) {
+        return super.equals(obj);
+      }
+      cmvr.msgs.CanCardParameter.CANCardParameter other = (cmvr.msgs.CanCardParameter.CANCardParameter) obj;
+
+      if (hasBrand() != other.hasBrand()) return false;
+      if (hasBrand()) {
+        if (brand_ != other.brand_) return false;
+      }
+      if (hasType() != other.hasType()) return false;
+      if (hasType()) {
+        if (type_ != other.type_) return false;
+      }
+      if (hasChannelId() != other.hasChannelId()) return false;
+      if (hasChannelId()) {
+        if (channelId_ != other.channelId_) return false;
+      }
+      if (hasInterface() != other.hasInterface()) return false;
+      if (hasInterface()) {
+        if (interface_ != other.interface_) return false;
+      }
+      if (hasNumPorts() != other.hasNumPorts()) return false;
+      if (hasNumPorts()) {
+        if (getNumPorts()
+            != other.getNumPorts()) return false;
+      }
+      if (hasBaudrate() != other.hasBaudrate()) return false;
+      if (hasBaudrate()) {
+        if (baudrate_ != other.baudrate_) return false;
+      }
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (hasBrand()) {
+        hash = (37 * hash) + BRAND_FIELD_NUMBER;
+        hash = (53 * hash) + brand_;
+      }
+      if (hasType()) {
+        hash = (37 * hash) + TYPE_FIELD_NUMBER;
+        hash = (53 * hash) + type_;
+      }
+      if (hasChannelId()) {
+        hash = (37 * hash) + CHANNEL_ID_FIELD_NUMBER;
+        hash = (53 * hash) + channelId_;
+      }
+      if (hasInterface()) {
+        hash = (37 * hash) + INTERFACE_FIELD_NUMBER;
+        hash = (53 * hash) + interface_;
+      }
+      if (hasNumPorts()) {
+        hash = (37 * hash) + NUM_PORTS_FIELD_NUMBER;
+        hash = (53 * hash) + getNumPorts();
+      }
+      if (hasBaudrate()) {
+        hash = (37 * hash) + BAUDRATE_FIELD_NUMBER;
+        hash = (53 * hash) + baudrate_;
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.msgs.CanCardParameter.CANCardParameter parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.CanCardParameter.CANCardParameter parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.CanCardParameter.CANCardParameter parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.CanCardParameter.CANCardParameter parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.CanCardParameter.CANCardParameter parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.CanCardParameter.CANCardParameter parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.CanCardParameter.CANCardParameter parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.CanCardParameter.CANCardParameter parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.msgs.CanCardParameter.CANCardParameter parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.CanCardParameter.CANCardParameter parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.msgs.CanCardParameter.CANCardParameter parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.CanCardParameter.CANCardParameter parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.msgs.CanCardParameter.CANCardParameter prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.msgs.CANCardParameter}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.msgs.CANCardParameter)
+        cmvr.msgs.CanCardParameter.CANCardParameterOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.msgs.CanCardParameter.internal_static_cmvr_msgs_CANCardParameter_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.msgs.CanCardParameter.internal_static_cmvr_msgs_CANCardParameter_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.msgs.CanCardParameter.CANCardParameter.class, cmvr.msgs.CanCardParameter.CANCardParameter.Builder.class);
+      }
+
+      // Construct using cmvr.msgs.CanCardParameter.CANCardParameter.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        brand_ = 0;
+        bitField0_ = (bitField0_ & ~0x00000001);
+        type_ = 0;
+        bitField0_ = (bitField0_ & ~0x00000002);
+        channelId_ = 0;
+        bitField0_ = (bitField0_ & ~0x00000004);
+        interface_ = 0;
+        bitField0_ = (bitField0_ & ~0x00000008);
+        numPorts_ = 0;
+        bitField0_ = (bitField0_ & ~0x00000010);
+        baudrate_ = 0;
+        bitField0_ = (bitField0_ & ~0x00000020);
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.msgs.CanCardParameter.internal_static_cmvr_msgs_CANCardParameter_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.CanCardParameter.CANCardParameter getDefaultInstanceForType() {
+        return cmvr.msgs.CanCardParameter.CANCardParameter.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.CanCardParameter.CANCardParameter build() {
+        cmvr.msgs.CanCardParameter.CANCardParameter result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.CanCardParameter.CANCardParameter buildPartial() {
+        cmvr.msgs.CanCardParameter.CANCardParameter result = new cmvr.msgs.CanCardParameter.CANCardParameter(this);
+        int from_bitField0_ = bitField0_;
+        int to_bitField0_ = 0;
+        if (((from_bitField0_ & 0x00000001) != 0)) {
+          to_bitField0_ |= 0x00000001;
+        }
+        result.brand_ = brand_;
+        if (((from_bitField0_ & 0x00000002) != 0)) {
+          to_bitField0_ |= 0x00000002;
+        }
+        result.type_ = type_;
+        if (((from_bitField0_ & 0x00000004) != 0)) {
+          to_bitField0_ |= 0x00000004;
+        }
+        result.channelId_ = channelId_;
+        if (((from_bitField0_ & 0x00000008) != 0)) {
+          to_bitField0_ |= 0x00000008;
+        }
+        result.interface_ = interface_;
+        if (((from_bitField0_ & 0x00000010) != 0)) {
+          result.numPorts_ = numPorts_;
+          to_bitField0_ |= 0x00000010;
+        }
+        if (((from_bitField0_ & 0x00000020) != 0)) {
+          to_bitField0_ |= 0x00000020;
+        }
+        result.baudrate_ = baudrate_;
+        result.bitField0_ = to_bitField0_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.msgs.CanCardParameter.CANCardParameter) {
+          return mergeFrom((cmvr.msgs.CanCardParameter.CANCardParameter)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.msgs.CanCardParameter.CANCardParameter other) {
+        if (other == cmvr.msgs.CanCardParameter.CANCardParameter.getDefaultInstance()) return this;
+        if (other.hasBrand()) {
+          setBrand(other.getBrand());
+        }
+        if (other.hasType()) {
+          setType(other.getType());
+        }
+        if (other.hasChannelId()) {
+          setChannelId(other.getChannelId());
+        }
+        if (other.hasInterface()) {
+          setInterface(other.getInterface());
+        }
+        if (other.hasNumPorts()) {
+          setNumPorts(other.getNumPorts());
+        }
+        if (other.hasBaudrate()) {
+          setBaudrate(other.getBaudrate());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 8: {
+                brand_ = input.readEnum();
+                bitField0_ |= 0x00000001;
+                break;
+              } // case 8
+              case 16: {
+                type_ = input.readEnum();
+                bitField0_ |= 0x00000002;
+                break;
+              } // case 16
+              case 24: {
+                channelId_ = input.readEnum();
+                bitField0_ |= 0x00000004;
+                break;
+              } // case 24
+              case 32: {
+                interface_ = input.readEnum();
+                bitField0_ |= 0x00000008;
+                break;
+              } // case 32
+              case 40: {
+                numPorts_ = input.readUInt32();
+                bitField0_ |= 0x00000010;
+                break;
+              } // case 40
+              case 48: {
+                baudrate_ = input.readEnum();
+                bitField0_ |= 0x00000020;
+                break;
+              } // case 48
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int bitField0_;
+
+      private int brand_ = 0;
+      /**
+       * 
+       * CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANCardBrand brand = 1;
+       * @return Whether the brand field is set.
+       */
+      @java.lang.Override public boolean hasBrand() {
+        return ((bitField0_ & 0x00000001) != 0);
+      }
+      /**
+       * 
+       * CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANCardBrand brand = 1;
+       * @return The enum numeric value on the wire for brand.
+       */
+      @java.lang.Override public int getBrandValue() {
+        return brand_;
+      }
+      /**
+       * 
+       * CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANCardBrand brand = 1;
+       * @param value The enum numeric value on the wire for brand to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBrandValue(int value) {
+        bitField0_ |= 0x00000001;
+        brand_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANCardBrand brand = 1;
+       * @return The brand.
+       */
+      @java.lang.Override
+      public cmvr.msgs.CanCardParameter.CANCardParameter.CANCardBrand getBrand() {
+        @SuppressWarnings("deprecation")
+        cmvr.msgs.CanCardParameter.CANCardParameter.CANCardBrand result = cmvr.msgs.CanCardParameter.CANCardParameter.CANCardBrand.valueOf(brand_);
+        return result == null ? cmvr.msgs.CanCardParameter.CANCardParameter.CANCardBrand.UNRECOGNIZED : result;
+      }
+      /**
+       * 
+       * CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANCardBrand brand = 1;
+       * @param value The brand to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBrand(cmvr.msgs.CanCardParameter.CANCardParameter.CANCardBrand value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        bitField0_ |= 0x00000001;
+        brand_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANCardBrand brand = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearBrand() {
+        bitField0_ = (bitField0_ & ~0x00000001);
+        brand_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int type_ = 0;
+      /**
+       * 
+       * CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANCardType type = 2;
+       * @return Whether the type field is set.
+       */
+      @java.lang.Override public boolean hasType() {
+        return ((bitField0_ & 0x00000002) != 0);
+      }
+      /**
+       * 
+       * CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANCardType type = 2;
+       * @return The enum numeric value on the wire for type.
+       */
+      @java.lang.Override public int getTypeValue() {
+        return type_;
+      }
+      /**
+       * 
+       * CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANCardType type = 2;
+       * @param value The enum numeric value on the wire for type to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTypeValue(int value) {
+        bitField0_ |= 0x00000002;
+        type_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANCardType type = 2;
+       * @return The type.
+       */
+      @java.lang.Override
+      public cmvr.msgs.CanCardParameter.CANCardParameter.CANCardType getType() {
+        @SuppressWarnings("deprecation")
+        cmvr.msgs.CanCardParameter.CANCardParameter.CANCardType result = cmvr.msgs.CanCardParameter.CANCardParameter.CANCardType.valueOf(type_);
+        return result == null ? cmvr.msgs.CanCardParameter.CANCardParameter.CANCardType.UNRECOGNIZED : result;
+      }
+      /**
+       * 
+       * CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANCardType type = 2;
+       * @param value The type to set.
+       * @return This builder for chaining.
+       */
+      public Builder setType(cmvr.msgs.CanCardParameter.CANCardParameter.CANCardType value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        bitField0_ |= 0x00000002;
+        type_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANCardType type = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearType() {
+        bitField0_ = (bitField0_ & ~0x00000002);
+        type_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int channelId_ = 0;
+      /**
+       * 
+       * CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANChannelId channel_id = 3;
+       * @return Whether the channelId field is set.
+       */
+      @java.lang.Override public boolean hasChannelId() {
+        return ((bitField0_ & 0x00000004) != 0);
+      }
+      /**
+       * 
+       * CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANChannelId channel_id = 3;
+       * @return The enum numeric value on the wire for channelId.
+       */
+      @java.lang.Override public int getChannelIdValue() {
+        return channelId_;
+      }
+      /**
+       * 
+       * CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANChannelId channel_id = 3;
+       * @param value The enum numeric value on the wire for channelId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setChannelIdValue(int value) {
+        bitField0_ |= 0x00000004;
+        channelId_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANChannelId channel_id = 3;
+       * @return The channelId.
+       */
+      @java.lang.Override
+      public cmvr.msgs.CanCardParameter.CANCardParameter.CANChannelId getChannelId() {
+        @SuppressWarnings("deprecation")
+        cmvr.msgs.CanCardParameter.CANCardParameter.CANChannelId result = cmvr.msgs.CanCardParameter.CANCardParameter.CANChannelId.valueOf(channelId_);
+        return result == null ? cmvr.msgs.CanCardParameter.CANCardParameter.CANChannelId.UNRECOGNIZED : result;
+      }
+      /**
+       * 
+       * CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANChannelId channel_id = 3;
+       * @param value The channelId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setChannelId(cmvr.msgs.CanCardParameter.CANCardParameter.CANChannelId value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        bitField0_ |= 0x00000004;
+        channelId_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANChannelId channel_id = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearChannelId() {
+        bitField0_ = (bitField0_ & ~0x00000004);
+        channelId_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int interface_ = 0;
+      /**
+       * 
+       * CAN卡软件接口配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANInterface interface = 4;
+       * @return Whether the interface field is set.
+       */
+      @java.lang.Override public boolean hasInterface() {
+        return ((bitField0_ & 0x00000008) != 0);
+      }
+      /**
+       * 
+       * CAN卡软件接口配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANInterface interface = 4;
+       * @return The enum numeric value on the wire for interface.
+       */
+      @java.lang.Override public int getInterfaceValue() {
+        return interface_;
+      }
+      /**
+       * 
+       * CAN卡软件接口配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANInterface interface = 4;
+       * @param value The enum numeric value on the wire for interface to set.
+       * @return This builder for chaining.
+       */
+      public Builder setInterfaceValue(int value) {
+        bitField0_ |= 0x00000008;
+        interface_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * CAN卡软件接口配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANInterface interface = 4;
+       * @return The interface.
+       */
+      @java.lang.Override
+      public cmvr.msgs.CanCardParameter.CANCardParameter.CANInterface getInterface() {
+        @SuppressWarnings("deprecation")
+        cmvr.msgs.CanCardParameter.CANCardParameter.CANInterface result = cmvr.msgs.CanCardParameter.CANCardParameter.CANInterface.valueOf(interface_);
+        return result == null ? cmvr.msgs.CanCardParameter.CANCardParameter.CANInterface.UNRECOGNIZED : result;
+      }
+      /**
+       * 
+       * CAN卡软件接口配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANInterface interface = 4;
+       * @param value The interface to set.
+       * @return This builder for chaining.
+       */
+      public Builder setInterface(cmvr.msgs.CanCardParameter.CANCardParameter.CANInterface value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        bitField0_ |= 0x00000008;
+        interface_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * CAN卡软件接口配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.CANInterface interface = 4;
+       * @return This builder for chaining.
+       */
+      public Builder clearInterface() {
+        bitField0_ = (bitField0_ & ~0x00000008);
+        interface_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int numPorts_ ;
+      /**
+       * 
+       * CAN卡端口数量配置
+       * 

+       *
+       * optional uint32 num_ports = 5;
+       * @return Whether the numPorts field is set.
+       */
+      @java.lang.Override
+      public boolean hasNumPorts() {
+        return ((bitField0_ & 0x00000010) != 0);
+      }
+      /**
+       * 
+       * CAN卡端口数量配置
+       * 

+       *
+       * optional uint32 num_ports = 5;
+       * @return The numPorts.
+       */
+      @java.lang.Override
+      public int getNumPorts() {
+        return numPorts_;
+      }
+      /**
+       * 
+       * CAN卡端口数量配置
+       * 

+       *
+       * optional uint32 num_ports = 5;
+       * @param value The numPorts to set.
+       * @return This builder for chaining.
+       */
+      public Builder setNumPorts(int value) {
+        bitField0_ |= 0x00000010;
+        numPorts_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * CAN卡端口数量配置
+       * 

+       *
+       * optional uint32 num_ports = 5;
+       * @return This builder for chaining.
+       */
+      public Builder clearNumPorts() {
+        bitField0_ = (bitField0_ & ~0x00000010);
+        numPorts_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int baudrate_ = 0;
+      /**
+       * 
+       * CAN卡波特率配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.BAUDRATE baudrate = 6;
+       * @return Whether the baudrate field is set.
+       */
+      @java.lang.Override public boolean hasBaudrate() {
+        return ((bitField0_ & 0x00000020) != 0);
+      }
+      /**
+       * 
+       * CAN卡波特率配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.BAUDRATE baudrate = 6;
+       * @return The enum numeric value on the wire for baudrate.
+       */
+      @java.lang.Override public int getBaudrateValue() {
+        return baudrate_;
+      }
+      /**
+       * 
+       * CAN卡波特率配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.BAUDRATE baudrate = 6;
+       * @param value The enum numeric value on the wire for baudrate to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBaudrateValue(int value) {
+        bitField0_ |= 0x00000020;
+        baudrate_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * CAN卡波特率配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.BAUDRATE baudrate = 6;
+       * @return The baudrate.
+       */
+      @java.lang.Override
+      public cmvr.msgs.CanCardParameter.CANCardParameter.BAUDRATE getBaudrate() {
+        @SuppressWarnings("deprecation")
+        cmvr.msgs.CanCardParameter.CANCardParameter.BAUDRATE result = cmvr.msgs.CanCardParameter.CANCardParameter.BAUDRATE.valueOf(baudrate_);
+        return result == null ? cmvr.msgs.CanCardParameter.CANCardParameter.BAUDRATE.UNRECOGNIZED : result;
+      }
+      /**
+       * 
+       * CAN卡波特率配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.BAUDRATE baudrate = 6;
+       * @param value The baudrate to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBaudrate(cmvr.msgs.CanCardParameter.CANCardParameter.BAUDRATE value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        bitField0_ |= 0x00000020;
+        baudrate_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * CAN卡波特率配置
+       * 

+       *
+       * optional .cmvr.msgs.CANCardParameter.BAUDRATE baudrate = 6;
+       * @return This builder for chaining.
+       */
+      public Builder clearBaudrate() {
+        bitField0_ = (bitField0_ & ~0x00000020);
+        baudrate_ = 0;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.msgs.CANCardParameter)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.msgs.CANCardParameter)
+    private static final cmvr.msgs.CanCardParameter.CANCardParameter DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.msgs.CanCardParameter.CANCardParameter();
+    }
+
+    public static cmvr.msgs.CanCardParameter.CANCardParameter getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public CANCardParameter parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.msgs.CanCardParameter.CANCardParameter getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_msgs_CANCardParameter_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_msgs_CANCardParameter_fieldAccessorTable;
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\"cmvr/msgs/can_card_parameter.proto\022\tcm" +
+      "vr.msgs\"\230\007\n\020CANCardParameter\022<\n\005brand\030\001 " +
+      "\001(\0162(.cmvr.msgs.CANCardParameter.CANCard" +
+      "BrandH\000\210\001\001\022:\n\004type\030\002 \001(\0162\'.cmvr.msgs.CAN" +
+      "CardParameter.CANCardTypeH\001\210\001\001\022A\n\nchanne" +
+      "l_id\030\003 \001(\0162(.cmvr.msgs.CANCardParameter." +
+      "CANChannelIdH\002\210\001\001\022@\n\tinterface\030\004 \001(\0162(.c" +
+      "mvr.msgs.CANCardParameter.CANInterfaceH\003" +
+      "\210\001\001\022\026\n\tnum_ports\030\005 \001(\rH\004\210\001\001\022;\n\010baudrate\030" +
+      "\006 \001(\0162$.cmvr.msgs.CANCardParameter.BAUDR" +
+      "ATEH\005\210\001\001\"M\n\014CANCardBrand\022\014\n\010FAKE_CAN\020\000\022\013" +
+      "\n\007ESD_CAN\020\001\022\022\n\016SOCKET_CAN_RAW\020\002\022\016\n\nHERME" +
+      "S_CAN\020\003\")\n\013CANCardType\022\014\n\010PCI_CARD\020\000\022\014\n\010" +
+      "USB_CARD\020\001\"\265\001\n\014CANChannelId\022\023\n\017CHANNEL_I" +
+      "D_ZERO\020\000\022\022\n\016CHANNEL_ID_ONE\020\001\022\022\n\016CHANNEL_" +
+      "ID_TWO\020\002\022\024\n\020CHANNEL_ID_THREE\020\003\022\023\n\017CHANNE" +
+      "L_ID_FOUR\020\004\022\023\n\017CHANNEL_ID_FIVE\020\005\022\022\n\016CHAN" +
+      "NEL_ID_SIX\020\006\022\024\n\020CHANNEL_ID_SEVEN\020\007\"2\n\014CA" +
+      "NInterface\022\n\n\006NATIVE\020\000\022\013\n\007VIRTUAL\020\001\022\t\n\005S" +
+      "LCAN\020\002\"\177\n\010BAUDRATE\022\024\n\020BCAN_BAUDRATE_1M\020\000" +
+      "\022\026\n\022BCAN_BAUDRATE_500K\020\001\022\026\n\022BCAN_BAUDRAT" +
+      "E_250K\020\002\022\026\n\022BCAN_BAUDRATE_150K\020\003\022\025\n\021BCAN" +
+      "_BAUDRATE_NUM\020\004B\010\n\006_brandB\007\n\005_typeB\r\n\013_c" +
+      "hannel_idB\014\n\n_interfaceB\014\n\n_num_portsB\013\n" +
+      "\t_baudrateb\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+        });
+    internal_static_cmvr_msgs_CANCardParameter_descriptor =
+      getDescriptor().getMessageTypes().get(0);
+    internal_static_cmvr_msgs_CANCardParameter_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_msgs_CANCardParameter_descriptor,
+        new java.lang.String[] { "Brand", "Type", "ChannelId", "Interface", "NumPorts", "Baudrate", "Brand", "Type", "ChannelId", "Interface", "NumPorts", "Baudrate", });
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Canopen.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Canopen.java
new file mode 100644
index 0000000..24c7af3
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Canopen.java
@@ -0,0 +1,2509 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/msgs/canopen.proto
+
+package cmvr.msgs;
+
+public final class Canopen {
+  private Canopen() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+  /**
+   * Protobuf enum {@code cmvr.msgs.PdoBaseId}
+   */
+  public enum PdoBaseId
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * PDO_BASE_ID_UNSPECIFIED = 0;
+     */
+    PDO_BASE_ID_UNSPECIFIED(0),
+    /**
+     * RPDO1_BASE_ID_200 = 512;
+     */
+    RPDO1_BASE_ID_200(512),
+    /**
+     * RPDO2_BASE_ID_300 = 768;
+     */
+    RPDO2_BASE_ID_300(768),
+    /**
+     * RPDO3_BASE_ID_400 = 1024;
+     */
+    RPDO3_BASE_ID_400(1024),
+    /**
+     * RPDO4_BASE_ID_500 = 1280;
+     */
+    RPDO4_BASE_ID_500(1280),
+    /**
+     * TPDO1_BASE_ID_180 = 384;
+     */
+    TPDO1_BASE_ID_180(384),
+    /**
+     * TPDO2_BASE_ID_280 = 640;
+     */
+    TPDO2_BASE_ID_280(640),
+    /**
+     * TPDO3_BASE_ID_380 = 896;
+     */
+    TPDO3_BASE_ID_380(896),
+    /**
+     * TPDO4_BASE_ID_480 = 1152;
+     */
+    TPDO4_BASE_ID_480(1152),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * PDO_BASE_ID_UNSPECIFIED = 0;
+     */
+    public static final int PDO_BASE_ID_UNSPECIFIED_VALUE = 0;
+    /**
+     * RPDO1_BASE_ID_200 = 512;
+     */
+    public static final int RPDO1_BASE_ID_200_VALUE = 512;
+    /**
+     * RPDO2_BASE_ID_300 = 768;
+     */
+    public static final int RPDO2_BASE_ID_300_VALUE = 768;
+    /**
+     * RPDO3_BASE_ID_400 = 1024;
+     */
+    public static final int RPDO3_BASE_ID_400_VALUE = 1024;
+    /**
+     * RPDO4_BASE_ID_500 = 1280;
+     */
+    public static final int RPDO4_BASE_ID_500_VALUE = 1280;
+    /**
+     * TPDO1_BASE_ID_180 = 384;
+     */
+    public static final int TPDO1_BASE_ID_180_VALUE = 384;
+    /**
+     * TPDO2_BASE_ID_280 = 640;
+     */
+    public static final int TPDO2_BASE_ID_280_VALUE = 640;
+    /**
+     * TPDO3_BASE_ID_380 = 896;
+     */
+    public static final int TPDO3_BASE_ID_380_VALUE = 896;
+    /**
+     * TPDO4_BASE_ID_480 = 1152;
+     */
+    public static final int TPDO4_BASE_ID_480_VALUE = 1152;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static PdoBaseId valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static PdoBaseId forNumber(int value) {
+      switch (value) {
+        case 0: return PDO_BASE_ID_UNSPECIFIED;
+        case 512: return RPDO1_BASE_ID_200;
+        case 768: return RPDO2_BASE_ID_300;
+        case 1024: return RPDO3_BASE_ID_400;
+        case 1280: return RPDO4_BASE_ID_500;
+        case 384: return TPDO1_BASE_ID_180;
+        case 640: return TPDO2_BASE_ID_280;
+        case 896: return TPDO3_BASE_ID_380;
+        case 1152: return TPDO4_BASE_ID_480;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        PdoBaseId> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public PdoBaseId findValueByNumber(int number) {
+              return PdoBaseId.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.msgs.Canopen.getDescriptor().getEnumTypes().get(0);
+    }
+
+    private static final PdoBaseId[] VALUES = values();
+
+    public static PdoBaseId valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private PdoBaseId(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.msgs.PdoBaseId)
+  }
+
+  /**
+   * 
+   * PDO 传输类型
+   * 

+   *
+   * Protobuf enum {@code cmvr.msgs.TransmissionType}
+   */
+  public enum TransmissionType
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * 
+     * 同步传输
+     * 

+     *
+     * SYNC_EVENT_DRIVEN = 0;
+     */
+    SYNC_EVENT_DRIVEN(0),
+    /**
+     * 
+     * 循环同步
+     * 

+     *
+     * SYNC_CYCLIC = 1;
+     */
+    SYNC_CYCLIC(1),
+    /**
+     * 
+     * 远程请求触发
+     * 

+     *
+     * REMOTE_SYNC = 252;
+     */
+    REMOTE_SYNC(252),
+    /**
+     * 
+     * 远程异步
+     * 

+     *
+     * REMOTE_ASYNC = 253;
+     */
+    REMOTE_ASYNC(253),
+    /**
+     * 
+     * 异步传输
+     * 

+     *
+     * ASYNC_MANUFACTURER_SPECIFIC = 254;
+     */
+    ASYNC_MANUFACTURER_SPECIFIC(254),
+    /**
+     * 
+     * 异步，设备子协议特定事件
+     * 

+     *
+     * ASYNC_DEVICE_SPECIFIC = 255;
+     */
+    ASYNC_DEVICE_SPECIFIC(255),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * 
+     * 同步传输
+     * 

+     *
+     * SYNC_EVENT_DRIVEN = 0;
+     */
+    public static final int SYNC_EVENT_DRIVEN_VALUE = 0;
+    /**
+     * 
+     * 循环同步
+     * 

+     *
+     * SYNC_CYCLIC = 1;
+     */
+    public static final int SYNC_CYCLIC_VALUE = 1;
+    /**
+     * 
+     * 远程请求触发
+     * 

+     *
+     * REMOTE_SYNC = 252;
+     */
+    public static final int REMOTE_SYNC_VALUE = 252;
+    /**
+     * 
+     * 远程异步
+     * 

+     *
+     * REMOTE_ASYNC = 253;
+     */
+    public static final int REMOTE_ASYNC_VALUE = 253;
+    /**
+     * 
+     * 异步传输
+     * 

+     *
+     * ASYNC_MANUFACTURER_SPECIFIC = 254;
+     */
+    public static final int ASYNC_MANUFACTURER_SPECIFIC_VALUE = 254;
+    /**
+     * 
+     * 异步，设备子协议特定事件
+     * 

+     *
+     * ASYNC_DEVICE_SPECIFIC = 255;
+     */
+    public static final int ASYNC_DEVICE_SPECIFIC_VALUE = 255;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static TransmissionType valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static TransmissionType forNumber(int value) {
+      switch (value) {
+        case 0: return SYNC_EVENT_DRIVEN;
+        case 1: return SYNC_CYCLIC;
+        case 252: return REMOTE_SYNC;
+        case 253: return REMOTE_ASYNC;
+        case 254: return ASYNC_MANUFACTURER_SPECIFIC;
+        case 255: return ASYNC_DEVICE_SPECIFIC;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        TransmissionType> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public TransmissionType findValueByNumber(int number) {
+              return TransmissionType.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.msgs.Canopen.getDescriptor().getEnumTypes().get(1);
+    }
+
+    private static final TransmissionType[] VALUES = values();
+
+    public static TransmissionType valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private TransmissionType(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.msgs.TransmissionType)
+  }
+
+  /**
+   * Protobuf enum {@code cmvr.msgs.CommandSpecifier}
+   */
+  public enum CommandSpecifier
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * 
+     * 默认无效
+     * 

+     *
+     * CS_NO = 0;
+     */
+    CS_NO(0),
+    /**
+     * 
+     * 写 1 字节
+     * 

+     *
+     * CS_WRITE_ONE_BYTE = 47;
+     */
+    CS_WRITE_ONE_BYTE(47),
+    /**
+     * 
+     * 写 2 字节
+     * 

+     *
+     * CS_WRITE_TWO_BYTES = 43;
+     */
+    CS_WRITE_TWO_BYTES(43),
+    /**
+     * 
+     * 写 3 字节
+     * 

+     *
+     * CS_WRITE_THREE_BYTES = 39;
+     */
+    CS_WRITE_THREE_BYTES(39),
+    /**
+     * 
+     * 写 4 字节
+     * 

+     *
+     * CS_WRITE_FOUR_BYTES = 35;
+     */
+    CS_WRITE_FOUR_BYTES(35),
+    /**
+     * 
+     * 写成功响应
+     * 

+     *
+     * CS_WRITE_SUCCESS_RESPONSE = 96;
+     */
+    CS_WRITE_SUCCESS_RESPONSE(96),
+    /**
+     * 
+     * 发起读取请求
+     * 

+     *
+     * CS_READ_REQUEST = 64;
+     */
+    CS_READ_REQUEST(64),
+    /**
+     * 
+     * 响应 1 字节
+     * 

+     *
+     * CS_READ_RESPONSE_ONE_BYTE = 79;
+     */
+    CS_READ_RESPONSE_ONE_BYTE(79),
+    /**
+     * 
+     * 响应 2 字节
+     * 

+     *
+     * CS_READ_RESPONSE_TWO_BYTES = 75;
+     */
+    CS_READ_RESPONSE_TWO_BYTES(75),
+    /**
+     * CS_READ_RESPONSE_THREE_BYTES = 71;
+     */
+    CS_READ_RESPONSE_THREE_BYTES(71),
+    /**
+     * CS_READ_RESPONSE_FOUR_BYTES = 67;
+     */
+    CS_READ_RESPONSE_FOUR_BYTES(67),
+    /**
+     * 
+     * 异常响应
+     * 

+     *
+     * CS_EXCEPTION_RESPONSE = 128;
+     */
+    CS_EXCEPTION_RESPONSE(128),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * 
+     * 默认无效
+     * 

+     *
+     * CS_NO = 0;
+     */
+    public static final int CS_NO_VALUE = 0;
+    /**
+     * 
+     * 写 1 字节
+     * 

+     *
+     * CS_WRITE_ONE_BYTE = 47;
+     */
+    public static final int CS_WRITE_ONE_BYTE_VALUE = 47;
+    /**
+     * 
+     * 写 2 字节
+     * 

+     *
+     * CS_WRITE_TWO_BYTES = 43;
+     */
+    public static final int CS_WRITE_TWO_BYTES_VALUE = 43;
+    /**
+     * 
+     * 写 3 字节
+     * 

+     *
+     * CS_WRITE_THREE_BYTES = 39;
+     */
+    public static final int CS_WRITE_THREE_BYTES_VALUE = 39;
+    /**
+     * 
+     * 写 4 字节
+     * 

+     *
+     * CS_WRITE_FOUR_BYTES = 35;
+     */
+    public static final int CS_WRITE_FOUR_BYTES_VALUE = 35;
+    /**
+     * 
+     * 写成功响应
+     * 

+     *
+     * CS_WRITE_SUCCESS_RESPONSE = 96;
+     */
+    public static final int CS_WRITE_SUCCESS_RESPONSE_VALUE = 96;
+    /**
+     * 
+     * 发起读取请求
+     * 

+     *
+     * CS_READ_REQUEST = 64;
+     */
+    public static final int CS_READ_REQUEST_VALUE = 64;
+    /**
+     * 
+     * 响应 1 字节
+     * 

+     *
+     * CS_READ_RESPONSE_ONE_BYTE = 79;
+     */
+    public static final int CS_READ_RESPONSE_ONE_BYTE_VALUE = 79;
+    /**
+     * 
+     * 响应 2 字节
+     * 

+     *
+     * CS_READ_RESPONSE_TWO_BYTES = 75;
+     */
+    public static final int CS_READ_RESPONSE_TWO_BYTES_VALUE = 75;
+    /**
+     * CS_READ_RESPONSE_THREE_BYTES = 71;
+     */
+    public static final int CS_READ_RESPONSE_THREE_BYTES_VALUE = 71;
+    /**
+     * CS_READ_RESPONSE_FOUR_BYTES = 67;
+     */
+    public static final int CS_READ_RESPONSE_FOUR_BYTES_VALUE = 67;
+    /**
+     * 
+     * 异常响应
+     * 

+     *
+     * CS_EXCEPTION_RESPONSE = 128;
+     */
+    public static final int CS_EXCEPTION_RESPONSE_VALUE = 128;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static CommandSpecifier valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static CommandSpecifier forNumber(int value) {
+      switch (value) {
+        case 0: return CS_NO;
+        case 47: return CS_WRITE_ONE_BYTE;
+        case 43: return CS_WRITE_TWO_BYTES;
+        case 39: return CS_WRITE_THREE_BYTES;
+        case 35: return CS_WRITE_FOUR_BYTES;
+        case 96: return CS_WRITE_SUCCESS_RESPONSE;
+        case 64: return CS_READ_REQUEST;
+        case 79: return CS_READ_RESPONSE_ONE_BYTE;
+        case 75: return CS_READ_RESPONSE_TWO_BYTES;
+        case 71: return CS_READ_RESPONSE_THREE_BYTES;
+        case 67: return CS_READ_RESPONSE_FOUR_BYTES;
+        case 128: return CS_EXCEPTION_RESPONSE;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        CommandSpecifier> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public CommandSpecifier findValueByNumber(int number) {
+              return CommandSpecifier.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.msgs.Canopen.getDescriptor().getEnumTypes().get(2);
+    }
+
+    private static final CommandSpecifier[] VALUES = values();
+
+    public static CommandSpecifier valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private CommandSpecifier(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.msgs.CommandSpecifier)
+  }
+
+  /**
+   * Protobuf enum {@code cmvr.msgs.NmtState}
+   */
+  public enum NmtState
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * 
+     * 0x00 - 正在初始化（Initializing）
+     * 

+     *
+     * NMT_INITIALIZING = 0;
+     */
+    NMT_INITIALIZING(0),
+    /**
+     * 
+     * 0x01 - 未连接 / 应用复位（Reset Application）
+     * 

+     *
+     * NMT_RESET_APPLICATION = 1;
+     */
+    NMT_RESET_APPLICATION(1),
+    /**
+     * 
+     * 0x02 - 正在连接（Connecting）
+     * 

+     *
+     * NMT_CONNECTING = 2;
+     */
+    NMT_CONNECTING(2),
+    /**
+     * 
+     * 0x03 - 准备（Preparing）
+     * 

+     *
+     * NMT_PREPARING = 3;
+     */
+    NMT_PREPARING(3),
+    /**
+     * 
+     * 0x04 - 停止状态（Stopped），开启 SDO，关闭 PDO
+     * 

+     *
+     * NMT_STOPPED = 4;
+     */
+    NMT_STOPPED(4),
+    /**
+     * 
+     * 0x05 - 运行状态（Operational），开启 SDO、PDO、NMT
+     * 

+     *
+     * NMT_OPERATIONAL = 5;
+     */
+    NMT_OPERATIONAL(5),
+    /**
+     * 
+     * 0x7F - 预运行状态（Pre-Operational），开启 SDO，关闭 PDO
+     * 

+     *
+     * NMT_PRE_OPERATIONAL = 127;
+     */
+    NMT_PRE_OPERATIONAL(127),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * 
+     * 0x00 - 正在初始化（Initializing）
+     * 

+     *
+     * NMT_INITIALIZING = 0;
+     */
+    public static final int NMT_INITIALIZING_VALUE = 0;
+    /**
+     * 
+     * 0x01 - 未连接 / 应用复位（Reset Application）
+     * 

+     *
+     * NMT_RESET_APPLICATION = 1;
+     */
+    public static final int NMT_RESET_APPLICATION_VALUE = 1;
+    /**
+     * 
+     * 0x02 - 正在连接（Connecting）
+     * 

+     *
+     * NMT_CONNECTING = 2;
+     */
+    public static final int NMT_CONNECTING_VALUE = 2;
+    /**
+     * 
+     * 0x03 - 准备（Preparing）
+     * 

+     *
+     * NMT_PREPARING = 3;
+     */
+    public static final int NMT_PREPARING_VALUE = 3;
+    /**
+     * 
+     * 0x04 - 停止状态（Stopped），开启 SDO，关闭 PDO
+     * 

+     *
+     * NMT_STOPPED = 4;
+     */
+    public static final int NMT_STOPPED_VALUE = 4;
+    /**
+     * 
+     * 0x05 - 运行状态（Operational），开启 SDO、PDO、NMT
+     * 

+     *
+     * NMT_OPERATIONAL = 5;
+     */
+    public static final int NMT_OPERATIONAL_VALUE = 5;
+    /**
+     * 
+     * 0x7F - 预运行状态（Pre-Operational），开启 SDO，关闭 PDO
+     * 

+     *
+     * NMT_PRE_OPERATIONAL = 127;
+     */
+    public static final int NMT_PRE_OPERATIONAL_VALUE = 127;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static NmtState valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static NmtState forNumber(int value) {
+      switch (value) {
+        case 0: return NMT_INITIALIZING;
+        case 1: return NMT_RESET_APPLICATION;
+        case 2: return NMT_CONNECTING;
+        case 3: return NMT_PREPARING;
+        case 4: return NMT_STOPPED;
+        case 5: return NMT_OPERATIONAL;
+        case 127: return NMT_PRE_OPERATIONAL;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        NmtState> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public NmtState findValueByNumber(int number) {
+              return NmtState.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.msgs.Canopen.getDescriptor().getEnumTypes().get(3);
+    }
+
+    private static final NmtState[] VALUES = values();
+
+    public static NmtState valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private NmtState(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.msgs.NmtState)
+  }
+
+  /**
+   * Protobuf enum {@code cmvr.msgs.NmtCommand}
+   */
+  public enum NmtCommand
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * 
+     * 未指定命令
+     * 

+     *
+     * NMT_COMMAND_UNSPECIFIED = 0;
+     */
+    NMT_COMMAND_UNSPECIFIED(0),
+    /**
+     * 
+     * 0x01 - 启动远程节点（Start Remote Node）
+     * 

+     *
+     * NMT_START_REMOTE_NODE = 1;
+     */
+    NMT_START_REMOTE_NODE(1),
+    /**
+     * 
+     * 0x02 - 停止远程节点（Stop Remote Node）
+     * 

+     *
+     * NMT_STOP_REMOTE_NODE = 2;
+     */
+    NMT_STOP_REMOTE_NODE(2),
+    /**
+     * 
+     * 0x80 - 进入预操作状态（Enter Pre-Operational）
+     * 

+     *
+     * NMT_ENTER_PRE_OPERATIONAL = 128;
+     */
+    NMT_ENTER_PRE_OPERATIONAL(128),
+    /**
+     * 
+     * 0x81 - 复位节点（Reset Node）
+     * 

+     *
+     * NMT_RESET_NODE = 129;
+     */
+    NMT_RESET_NODE(129),
+    /**
+     * 
+     * 0x82 - 复位通信（Reset Communication）
+     * 

+     *
+     * NMT_RESET_COMMUNICATION = 130;
+     */
+    NMT_RESET_COMMUNICATION(130),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * 
+     * 未指定命令
+     * 

+     *
+     * NMT_COMMAND_UNSPECIFIED = 0;
+     */
+    public static final int NMT_COMMAND_UNSPECIFIED_VALUE = 0;
+    /**
+     * 
+     * 0x01 - 启动远程节点（Start Remote Node）
+     * 

+     *
+     * NMT_START_REMOTE_NODE = 1;
+     */
+    public static final int NMT_START_REMOTE_NODE_VALUE = 1;
+    /**
+     * 
+     * 0x02 - 停止远程节点（Stop Remote Node）
+     * 

+     *
+     * NMT_STOP_REMOTE_NODE = 2;
+     */
+    public static final int NMT_STOP_REMOTE_NODE_VALUE = 2;
+    /**
+     * 
+     * 0x80 - 进入预操作状态（Enter Pre-Operational）
+     * 

+     *
+     * NMT_ENTER_PRE_OPERATIONAL = 128;
+     */
+    public static final int NMT_ENTER_PRE_OPERATIONAL_VALUE = 128;
+    /**
+     * 
+     * 0x81 - 复位节点（Reset Node）
+     * 

+     *
+     * NMT_RESET_NODE = 129;
+     */
+    public static final int NMT_RESET_NODE_VALUE = 129;
+    /**
+     * 
+     * 0x82 - 复位通信（Reset Communication）
+     * 

+     *
+     * NMT_RESET_COMMUNICATION = 130;
+     */
+    public static final int NMT_RESET_COMMUNICATION_VALUE = 130;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static NmtCommand valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static NmtCommand forNumber(int value) {
+      switch (value) {
+        case 0: return NMT_COMMAND_UNSPECIFIED;
+        case 1: return NMT_START_REMOTE_NODE;
+        case 2: return NMT_STOP_REMOTE_NODE;
+        case 128: return NMT_ENTER_PRE_OPERATIONAL;
+        case 129: return NMT_RESET_NODE;
+        case 130: return NMT_RESET_COMMUNICATION;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        NmtCommand> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public NmtCommand findValueByNumber(int number) {
+              return NmtCommand.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.msgs.Canopen.getDescriptor().getEnumTypes().get(4);
+    }
+
+    private static final NmtCommand[] VALUES = values();
+
+    public static NmtCommand valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private NmtCommand(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.msgs.NmtCommand)
+  }
+
+  /**
+   * 
+   * CANopen communication object dictionary indexes.
+   * CiA402 drive-profile objects are defined in cia402.proto.
+   * 

+   *
+   * Protobuf enum {@code cmvr.msgs.CanopenObjectIndex}
+   */
+  public enum CanopenObjectIndex
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * CANOPEN_OBJECT_INDEX_ZERO = 0;
+     */
+    CANOPEN_OBJECT_INDEX_ZERO(0),
+    /**
+     * CANOPEN_PRODUCER_HEARTBEAT_TIME_1017 = 4119;
+     */
+    CANOPEN_PRODUCER_HEARTBEAT_TIME_1017(4119),
+    /**
+     * 
+     * PDO 通信参数对象（Communication Object）
+     * 

+     *
+     * CANOPEN_RPDO1_COMM_1400 = 5120;
+     */
+    CANOPEN_RPDO1_COMM_1400(5120),
+    /**
+     * CANOPEN_RPDO2_COMM_1401 = 5121;
+     */
+    CANOPEN_RPDO2_COMM_1401(5121),
+    /**
+     * CANOPEN_RPDO3_COMM_1402 = 5122;
+     */
+    CANOPEN_RPDO3_COMM_1402(5122),
+    /**
+     * CANOPEN_RPDO4_COMM_1403 = 5123;
+     */
+    CANOPEN_RPDO4_COMM_1403(5123),
+    /**
+     * CANOPEN_TPDO1_COMM_1800 = 6144;
+     */
+    CANOPEN_TPDO1_COMM_1800(6144),
+    /**
+     * CANOPEN_TPDO2_COMM_1801 = 6145;
+     */
+    CANOPEN_TPDO2_COMM_1801(6145),
+    /**
+     * CANOPEN_TPDO3_COMM_1802 = 6146;
+     */
+    CANOPEN_TPDO3_COMM_1802(6146),
+    /**
+     * CANOPEN_TPDO4_COMM_1803 = 6147;
+     */
+    CANOPEN_TPDO4_COMM_1803(6147),
+    /**
+     * 
+     * PDO 映射对象（Mapping Object）
+     * 

+     *
+     * CANOPEN_RPDO1_MAP_1600 = 5632;
+     */
+    CANOPEN_RPDO1_MAP_1600(5632),
+    /**
+     * CANOPEN_RPDO2_MAP_1601 = 5633;
+     */
+    CANOPEN_RPDO2_MAP_1601(5633),
+    /**
+     * CANOPEN_RPDO3_MAP_1602 = 5634;
+     */
+    CANOPEN_RPDO3_MAP_1602(5634),
+    /**
+     * CANOPEN_RPDO4_MAP_1603 = 5635;
+     */
+    CANOPEN_RPDO4_MAP_1603(5635),
+    /**
+     * CANOPEN_TPDO1_MAP_1A00 = 6656;
+     */
+    CANOPEN_TPDO1_MAP_1A00(6656),
+    /**
+     * CANOPEN_TPDO2_MAP_1A01 = 6657;
+     */
+    CANOPEN_TPDO2_MAP_1A01(6657),
+    /**
+     * CANOPEN_TPDO3_MAP_1A02 = 6658;
+     */
+    CANOPEN_TPDO3_MAP_1A02(6658),
+    /**
+     * CANOPEN_TPDO4_MAP_1A03 = 6659;
+     */
+    CANOPEN_TPDO4_MAP_1A03(6659),
+    /**
+     * 
+     * Ti5 vendor-specific objects used through CANopen SDO.
+     * 

+     *
+     * CANOPEN_USER_SAVE_PARA_2000 = 8192;
+     */
+    CANOPEN_USER_SAVE_PARA_2000(8192),
+    /**
+     * CANOPEN_POSITION_OFFSET_2008 = 8200;
+     */
+    CANOPEN_POSITION_OFFSET_2008(8200),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * CANOPEN_OBJECT_INDEX_ZERO = 0;
+     */
+    public static final int CANOPEN_OBJECT_INDEX_ZERO_VALUE = 0;
+    /**
+     * CANOPEN_PRODUCER_HEARTBEAT_TIME_1017 = 4119;
+     */
+    public static final int CANOPEN_PRODUCER_HEARTBEAT_TIME_1017_VALUE = 4119;
+    /**
+     * 
+     * PDO 通信参数对象（Communication Object）
+     * 

+     *
+     * CANOPEN_RPDO1_COMM_1400 = 5120;
+     */
+    public static final int CANOPEN_RPDO1_COMM_1400_VALUE = 5120;
+    /**
+     * CANOPEN_RPDO2_COMM_1401 = 5121;
+     */
+    public static final int CANOPEN_RPDO2_COMM_1401_VALUE = 5121;
+    /**
+     * CANOPEN_RPDO3_COMM_1402 = 5122;
+     */
+    public static final int CANOPEN_RPDO3_COMM_1402_VALUE = 5122;
+    /**
+     * CANOPEN_RPDO4_COMM_1403 = 5123;
+     */
+    public static final int CANOPEN_RPDO4_COMM_1403_VALUE = 5123;
+    /**
+     * CANOPEN_TPDO1_COMM_1800 = 6144;
+     */
+    public static final int CANOPEN_TPDO1_COMM_1800_VALUE = 6144;
+    /**
+     * CANOPEN_TPDO2_COMM_1801 = 6145;
+     */
+    public static final int CANOPEN_TPDO2_COMM_1801_VALUE = 6145;
+    /**
+     * CANOPEN_TPDO3_COMM_1802 = 6146;
+     */
+    public static final int CANOPEN_TPDO3_COMM_1802_VALUE = 6146;
+    /**
+     * CANOPEN_TPDO4_COMM_1803 = 6147;
+     */
+    public static final int CANOPEN_TPDO4_COMM_1803_VALUE = 6147;
+    /**
+     * 
+     * PDO 映射对象（Mapping Object）
+     * 

+     *
+     * CANOPEN_RPDO1_MAP_1600 = 5632;
+     */
+    public static final int CANOPEN_RPDO1_MAP_1600_VALUE = 5632;
+    /**
+     * CANOPEN_RPDO2_MAP_1601 = 5633;
+     */
+    public static final int CANOPEN_RPDO2_MAP_1601_VALUE = 5633;
+    /**
+     * CANOPEN_RPDO3_MAP_1602 = 5634;
+     */
+    public static final int CANOPEN_RPDO3_MAP_1602_VALUE = 5634;
+    /**
+     * CANOPEN_RPDO4_MAP_1603 = 5635;
+     */
+    public static final int CANOPEN_RPDO4_MAP_1603_VALUE = 5635;
+    /**
+     * CANOPEN_TPDO1_MAP_1A00 = 6656;
+     */
+    public static final int CANOPEN_TPDO1_MAP_1A00_VALUE = 6656;
+    /**
+     * CANOPEN_TPDO2_MAP_1A01 = 6657;
+     */
+    public static final int CANOPEN_TPDO2_MAP_1A01_VALUE = 6657;
+    /**
+     * CANOPEN_TPDO3_MAP_1A02 = 6658;
+     */
+    public static final int CANOPEN_TPDO3_MAP_1A02_VALUE = 6658;
+    /**
+     * CANOPEN_TPDO4_MAP_1A03 = 6659;
+     */
+    public static final int CANOPEN_TPDO4_MAP_1A03_VALUE = 6659;
+    /**
+     * 
+     * Ti5 vendor-specific objects used through CANopen SDO.
+     * 

+     *
+     * CANOPEN_USER_SAVE_PARA_2000 = 8192;
+     */
+    public static final int CANOPEN_USER_SAVE_PARA_2000_VALUE = 8192;
+    /**
+     * CANOPEN_POSITION_OFFSET_2008 = 8200;
+     */
+    public static final int CANOPEN_POSITION_OFFSET_2008_VALUE = 8200;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static CanopenObjectIndex valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static CanopenObjectIndex forNumber(int value) {
+      switch (value) {
+        case 0: return CANOPEN_OBJECT_INDEX_ZERO;
+        case 4119: return CANOPEN_PRODUCER_HEARTBEAT_TIME_1017;
+        case 5120: return CANOPEN_RPDO1_COMM_1400;
+        case 5121: return CANOPEN_RPDO2_COMM_1401;
+        case 5122: return CANOPEN_RPDO3_COMM_1402;
+        case 5123: return CANOPEN_RPDO4_COMM_1403;
+        case 6144: return CANOPEN_TPDO1_COMM_1800;
+        case 6145: return CANOPEN_TPDO2_COMM_1801;
+        case 6146: return CANOPEN_TPDO3_COMM_1802;
+        case 6147: return CANOPEN_TPDO4_COMM_1803;
+        case 5632: return CANOPEN_RPDO1_MAP_1600;
+        case 5633: return CANOPEN_RPDO2_MAP_1601;
+        case 5634: return CANOPEN_RPDO3_MAP_1602;
+        case 5635: return CANOPEN_RPDO4_MAP_1603;
+        case 6656: return CANOPEN_TPDO1_MAP_1A00;
+        case 6657: return CANOPEN_TPDO2_MAP_1A01;
+        case 6658: return CANOPEN_TPDO3_MAP_1A02;
+        case 6659: return CANOPEN_TPDO4_MAP_1A03;
+        case 8192: return CANOPEN_USER_SAVE_PARA_2000;
+        case 8200: return CANOPEN_POSITION_OFFSET_2008;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        CanopenObjectIndex> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public CanopenObjectIndex findValueByNumber(int number) {
+              return CanopenObjectIndex.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.msgs.Canopen.getDescriptor().getEnumTypes().get(5);
+    }
+
+    private static final CanopenObjectIndex[] VALUES = values();
+
+    public static CanopenObjectIndex valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private CanopenObjectIndex(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.msgs.CanopenObjectIndex)
+  }
+
+  /**
+   * 
+   * 子索引
+   * 

+   *
+   * Protobuf enum {@code cmvr.msgs.ObSubIndex}
+   */
+  public enum ObSubIndex
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * SUB_INDEX_0 = 0;
+     */
+    SUB_INDEX_0(0),
+    /**
+     * SUB_INDEX_1 = 1;
+     */
+    SUB_INDEX_1(1),
+    /**
+     * SUB_INDEX_2 = 2;
+     */
+    SUB_INDEX_2(2),
+    /**
+     * SUB_INDEX_3 = 3;
+     */
+    SUB_INDEX_3(3),
+    /**
+     * SUB_INDEX_4 = 4;
+     */
+    SUB_INDEX_4(4),
+    /**
+     * SUB_INDEX_5 = 5;
+     */
+    SUB_INDEX_5(5),
+    /**
+     * SUB_INDEX_6 = 6;
+     */
+    SUB_INDEX_6(6),
+    /**
+     * SUB_INDEX_7 = 7;
+     */
+    SUB_INDEX_7(7),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * SUB_INDEX_0 = 0;
+     */
+    public static final int SUB_INDEX_0_VALUE = 0;
+    /**
+     * SUB_INDEX_1 = 1;
+     */
+    public static final int SUB_INDEX_1_VALUE = 1;
+    /**
+     * SUB_INDEX_2 = 2;
+     */
+    public static final int SUB_INDEX_2_VALUE = 2;
+    /**
+     * SUB_INDEX_3 = 3;
+     */
+    public static final int SUB_INDEX_3_VALUE = 3;
+    /**
+     * SUB_INDEX_4 = 4;
+     */
+    public static final int SUB_INDEX_4_VALUE = 4;
+    /**
+     * SUB_INDEX_5 = 5;
+     */
+    public static final int SUB_INDEX_5_VALUE = 5;
+    /**
+     * SUB_INDEX_6 = 6;
+     */
+    public static final int SUB_INDEX_6_VALUE = 6;
+    /**
+     * SUB_INDEX_7 = 7;
+     */
+    public static final int SUB_INDEX_7_VALUE = 7;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static ObSubIndex valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static ObSubIndex forNumber(int value) {
+      switch (value) {
+        case 0: return SUB_INDEX_0;
+        case 1: return SUB_INDEX_1;
+        case 2: return SUB_INDEX_2;
+        case 3: return SUB_INDEX_3;
+        case 4: return SUB_INDEX_4;
+        case 5: return SUB_INDEX_5;
+        case 6: return SUB_INDEX_6;
+        case 7: return SUB_INDEX_7;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        ObSubIndex> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public ObSubIndex findValueByNumber(int number) {
+              return ObSubIndex.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.msgs.Canopen.getDescriptor().getEnumTypes().get(6);
+    }
+
+    private static final ObSubIndex[] VALUES = values();
+
+    public static ObSubIndex valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private ObSubIndex(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.msgs.ObSubIndex)
+  }
+
+  public interface SdoFrameOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.msgs.SdoFrame)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * 
+     * 节点ID
+     * 

+     *
+     * uint32 node_id = 1;
+     * @return The nodeId.
+     */
+    int getNodeId();
+
+    /**
+     * 
+     * SDO命令字
+     * 

+     *
+     * .cmvr.msgs.CommandSpecifier cs = 2;
+     * @return The enum numeric value on the wire for cs.
+     */
+    int getCsValue();
+    /**
+     * 
+     * SDO命令字
+     * 

+     *
+     * .cmvr.msgs.CommandSpecifier cs = 2;
+     * @return The cs.
+     */
+    cmvr.msgs.Canopen.CommandSpecifier getCs();
+
+    /**
+     * 
+     * 对象字典索引
+     * 

+     *
+     * uint32 index = 3;
+     * @return The index.
+     */
+    int getIndex();
+
+    /**
+     * 
+     * 子索引
+     * 

+     *
+     * uint32 sub_index = 4;
+     * @return The subIndex.
+     */
+    int getSubIndex();
+
+    /**
+     * 
+     * 数据区
+     * 

+     *
+     * uint32 data = 5;
+     * @return The data.
+     */
+    int getData();
+  }
+  /**
+   * Protobuf type {@code cmvr.msgs.SdoFrame}
+   */
+  public static final class SdoFrame extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.msgs.SdoFrame)
+      SdoFrameOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use SdoFrame.newBuilder() to construct.
+    private SdoFrame(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private SdoFrame() {
+      cs_ = 0;
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new SdoFrame();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.msgs.Canopen.internal_static_cmvr_msgs_SdoFrame_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.msgs.Canopen.internal_static_cmvr_msgs_SdoFrame_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.msgs.Canopen.SdoFrame.class, cmvr.msgs.Canopen.SdoFrame.Builder.class);
+    }
+
+    public static final int NODE_ID_FIELD_NUMBER = 1;
+    private int nodeId_;
+    /**
+     * 
+     * 节点ID
+     * 

+     *
+     * uint32 node_id = 1;
+     * @return The nodeId.
+     */
+    @java.lang.Override
+    public int getNodeId() {
+      return nodeId_;
+    }
+
+    public static final int CS_FIELD_NUMBER = 2;
+    private int cs_;
+    /**
+     * 
+     * SDO命令字
+     * 

+     *
+     * .cmvr.msgs.CommandSpecifier cs = 2;
+     * @return The enum numeric value on the wire for cs.
+     */
+    @java.lang.Override public int getCsValue() {
+      return cs_;
+    }
+    /**
+     * 
+     * SDO命令字
+     * 

+     *
+     * .cmvr.msgs.CommandSpecifier cs = 2;
+     * @return The cs.
+     */
+    @java.lang.Override public cmvr.msgs.Canopen.CommandSpecifier getCs() {
+      @SuppressWarnings("deprecation")
+      cmvr.msgs.Canopen.CommandSpecifier result = cmvr.msgs.Canopen.CommandSpecifier.valueOf(cs_);
+      return result == null ? cmvr.msgs.Canopen.CommandSpecifier.UNRECOGNIZED : result;
+    }
+
+    public static final int INDEX_FIELD_NUMBER = 3;
+    private int index_;
+    /**
+     * 
+     * 对象字典索引
+     * 

+     *
+     * uint32 index = 3;
+     * @return The index.
+     */
+    @java.lang.Override
+    public int getIndex() {
+      return index_;
+    }
+
+    public static final int SUB_INDEX_FIELD_NUMBER = 4;
+    private int subIndex_;
+    /**
+     * 
+     * 子索引
+     * 

+     *
+     * uint32 sub_index = 4;
+     * @return The subIndex.
+     */
+    @java.lang.Override
+    public int getSubIndex() {
+      return subIndex_;
+    }
+
+    public static final int DATA_FIELD_NUMBER = 5;
+    private int data_;
+    /**
+     * 
+     * 数据区
+     * 

+     *
+     * uint32 data = 5;
+     * @return The data.
+     */
+    @java.lang.Override
+    public int getData() {
+      return data_;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (nodeId_ != 0) {
+        output.writeUInt32(1, nodeId_);
+      }
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+        throws com.google.protobuf.InvalidProtocolBufferException {
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+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
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+    public static cmvr.msgs.Canopen.SdoFrame parseFrom(
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
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+        throws java.io.IOException {
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+    public static cmvr.msgs.Canopen.SdoFrame parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
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+    public static cmvr.msgs.Canopen.SdoFrame parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
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+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
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+    public static Builder newBuilder(cmvr.msgs.Canopen.SdoFrame prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
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+    /**
+     * Protobuf type {@code cmvr.msgs.SdoFrame}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.msgs.SdoFrame)
+        cmvr.msgs.Canopen.SdoFrameOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
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+      @java.lang.Override
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+      // Construct using cmvr.msgs.Canopen.SdoFrame.newBuilder()
+      private Builder() {
+
+      }
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+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
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+      }
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+        cs_ = 0;
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+        index_ = 0;
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+        subIndex_ = 0;
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+        data_ = 0;
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+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
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+      @java.lang.Override
+      public cmvr.msgs.Canopen.SdoFrame getDefaultInstanceForType() {
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+      public cmvr.msgs.Canopen.SdoFrame buildPartial() {
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+        result.index_ = index_;
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+          return this;
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+      public Builder mergeFrom(cmvr.msgs.Canopen.SdoFrame other) {
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+        if (other.getNodeId() != 0) {
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+        if (other.getIndex() != 0) {
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+        if (other.getSubIndex() != 0) {
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+        if (other.getData() != 0) {
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+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
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+      @java.lang.Override
+      public Builder mergeFrom(
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+       * 

+       *
+       * uint32 node_id = 1;
+       * @return The nodeId.
+       */
+      @java.lang.Override
+      public int getNodeId() {
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+      /**
+       * 
+       * 节点ID
+       * 

+       *
+       * uint32 node_id = 1;
+       * @param value The nodeId to set.
+       * @return This builder for chaining.
+       */
+      public Builder setNodeId(int value) {
+        
+        nodeId_ = value;
+        onChanged();
+        return this;
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+      /**
+       * 
+       * 节点ID
+       * 

+       *
+       * uint32 node_id = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearNodeId() {
+        
+        nodeId_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int cs_ = 0;
+      /**
+       * 
+       * SDO命令字
+       * 

+       *
+       * .cmvr.msgs.CommandSpecifier cs = 2;
+       * @return The enum numeric value on the wire for cs.
+       */
+      @java.lang.Override public int getCsValue() {
+        return cs_;
+      }
+      /**
+       * 
+       * SDO命令字
+       * 

+       *
+       * .cmvr.msgs.CommandSpecifier cs = 2;
+       * @param value The enum numeric value on the wire for cs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCsValue(int value) {
+        
+        cs_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * SDO命令字
+       * 

+       *
+       * .cmvr.msgs.CommandSpecifier cs = 2;
+       * @return The cs.
+       */
+      @java.lang.Override
+      public cmvr.msgs.Canopen.CommandSpecifier getCs() {
+        @SuppressWarnings("deprecation")
+        cmvr.msgs.Canopen.CommandSpecifier result = cmvr.msgs.Canopen.CommandSpecifier.valueOf(cs_);
+        return result == null ? cmvr.msgs.Canopen.CommandSpecifier.UNRECOGNIZED : result;
+      }
+      /**
+       * 
+       * SDO命令字
+       * 

+       *
+       * .cmvr.msgs.CommandSpecifier cs = 2;
+       * @param value The cs to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCs(cmvr.msgs.Canopen.CommandSpecifier value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        
+        cs_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * SDO命令字
+       * 

+       *
+       * .cmvr.msgs.CommandSpecifier cs = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearCs() {
+        
+        cs_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int index_ ;
+      /**
+       * 
+       * 对象字典索引
+       * 

+       *
+       * uint32 index = 3;
+       * @return The index.
+       */
+      @java.lang.Override
+      public int getIndex() {
+        return index_;
+      }
+      /**
+       * 
+       * 对象字典索引
+       * 

+       *
+       * uint32 index = 3;
+       * @param value The index to set.
+       * @return This builder for chaining.
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+      public Builder setIndex(int value) {
+        
+        index_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 对象字典索引
+       * 

+       *
+       * uint32 index = 3;
+       * @return This builder for chaining.
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+      public Builder clearIndex() {
+        
+        index_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int subIndex_ ;
+      /**
+       * 
+       * 子索引
+       * 

+       *
+       * uint32 sub_index = 4;
+       * @return The subIndex.
+       */
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+      public int getSubIndex() {
+        return subIndex_;
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+      /**
+       * 
+       * 子索引
+       * 

+       *
+       * uint32 sub_index = 4;
+       * @param value The subIndex to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSubIndex(int value) {
+        
+        subIndex_ = value;
+        onChanged();
+        return this;
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+      /**
+       * 
+       * 子索引
+       * 

+       *
+       * uint32 sub_index = 4;
+       * @return This builder for chaining.
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+      public Builder clearSubIndex() {
+        
+        subIndex_ = 0;
+        onChanged();
+        return this;
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+      private int data_ ;
+      /**
+       * 
+       * 数据区
+       * 

+       *
+       * uint32 data = 5;
+       * @return The data.
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+      public int getData() {
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+      /**
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+       * 数据区
+       * 

+       *
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+       * @param value The data to set.
+       * @return This builder for chaining.
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+        data_ = value;
+        onChanged();
+        return this;
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+      /**
+       * 
+       * 数据区
+       * 

+       *
+       * uint32 data = 5;
+       * @return This builder for chaining.
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+        data_ = 0;
+        onChanged();
+        return this;
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+      @java.lang.Override
+      public final Builder setUnknownFields(
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+      @java.lang.Override
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+      // @@protoc_insertion_point(builder_scope:cmvr.msgs.SdoFrame)
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+
+    // @@protoc_insertion_point(class_scope:cmvr.msgs.SdoFrame)
+    private static final cmvr.msgs.Canopen.SdoFrame DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.msgs.Canopen.SdoFrame();
+    }
+
+    public static cmvr.msgs.Canopen.SdoFrame getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
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+      @java.lang.Override
+      public SdoFrame parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
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+        return builder.buildPartial();
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+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.msgs.Canopen.SdoFrame getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_msgs_SdoFrame_descriptor;
+  private static final 
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+      internal_static_cmvr_msgs_SdoFrame_fieldAccessorTable;
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
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+  private static  com.google.protobuf.Descriptors.FileDescriptor
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+      "cmvr.msgs.CommandSpecifier\022\r\n\005index\030\003 \001(" +
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+      "80\020\200\007\022\026\n\021TPDO4_BASE_ID_480\020\200\t*\235\001\n\020Transm" +
+      "issionType\022\025\n\021SYNC_EVENT_DRIVEN\020\000\022\017\n\013SYN" +
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+      "SYNC\020\375\001\022 \n\033ASYNC_MANUFACTURER_SPECIFIC\020\376" +
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+      "dSpecifier\022\t\n\005CS_NO\020\000\022\025\n\021CS_WRITE_ONE_BY" +
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+      "_THREE_BYTES\020\'\022\027\n\023CS_WRITE_FOUR_BYTES\020#\022" +
+      "\035\n\031CS_WRITE_SUCCESS_RESPONSE\020`\022\023\n\017CS_REA" +
+      "D_REQUEST\020@\022\035\n\031CS_READ_RESPONSE_ONE_BYTE" +
+      "\020O\022\036\n\032CS_READ_RESPONSE_TWO_BYTES\020K\022 \n\034CS" +
+      "_READ_RESPONSE_THREE_BYTES\020G\022\037\n\033CS_READ_" +
+      "RESPONSE_FOUR_BYTES\020C\022\032\n\025CS_EXCEPTION_RE" +
+      "SPONSE\020\200\001*\241\001\n\010NmtState\022\024\n\020NMT_INITIALIZI" +
+      "NG\020\000\022\031\n\025NMT_RESET_APPLICATION\020\001\022\022\n\016NMT_C" +
+      "ONNECTING\020\002\022\021\n\rNMT_PREPARING\020\003\022\017\n\013NMT_ST" +
+      "OPPED\020\004\022\023\n\017NMT_OPERATIONAL\020\005\022\027\n\023NMT_PRE_" +
+      "OPERATIONAL\020\177*\261\001\n\nNmtCommand\022\033\n\027NMT_COMM" +
+      "AND_UNSPECIFIED\020\000\022\031\n\025NMT_START_REMOTE_NO" +
+      "DE\020\001\022\030\n\024NMT_STOP_REMOTE_NODE\020\002\022\036\n\031NMT_EN" +
+      "TER_PRE_OPERATIONAL\020\200\001\022\023\n\016NMT_RESET_NODE" +
+      "\020\201\001\022\034\n\027NMT_RESET_COMMUNICATION\020\202\001*\373\004\n\022Ca" +
+      "nopenObjectIndex\022\035\n\031CANOPEN_OBJECT_INDEX" +
+      "_ZERO\020\000\022)\n$CANOPEN_PRODUCER_HEARTBEAT_TI" +
+      "ME_1017\020\227 \022\034\n\027CANOPEN_RPDO1_COMM_1400\020\200(" +
+      "\022\034\n\027CANOPEN_RPDO2_COMM_1401\020\201(\022\034\n\027CANOPE" +
+      "N_RPDO3_COMM_1402\020\202(\022\034\n\027CANOPEN_RPDO4_CO" +
+      "MM_1403\020\203(\022\034\n\027CANOPEN_TPDO1_COMM_1800\020\2000" +
+      "\022\034\n\027CANOPEN_TPDO2_COMM_1801\020\2010\022\034\n\027CANOPE" +
+      "N_TPDO3_COMM_1802\020\2020\022\034\n\027CANOPEN_TPDO4_CO" +
+      "MM_1803\020\2030\022\033\n\026CANOPEN_RPDO1_MAP_1600\020\200,\022" +
+      "\033\n\026CANOPEN_RPDO2_MAP_1601\020\201,\022\033\n\026CANOPEN_" +
+      "RPDO3_MAP_1602\020\202,\022\033\n\026CANOPEN_RPDO4_MAP_1" +
+      "603\020\203,\022\033\n\026CANOPEN_TPDO1_MAP_1A00\020\2004\022\033\n\026C" +
+      "ANOPEN_TPDO2_MAP_1A01\020\2014\022\033\n\026CANOPEN_TPDO" +
+      "3_MAP_1A02\020\2024\022\033\n\026CANOPEN_TPDO4_MAP_1A03\020" +
+      "\2034\022 \n\033CANOPEN_USER_SAVE_PARA_2000\020\200@\022!\n\034" +
+      "CANOPEN_POSITION_OFFSET_2008\020\210@*\224\001\n\nObSu" +
+      "bIndex\022\017\n\013SUB_INDEX_0\020\000\022\017\n\013SUB_INDEX_1\020\001" +
+      "\022\017\n\013SUB_INDEX_2\020\002\022\017\n\013SUB_INDEX_3\020\003\022\017\n\013SU" +
+      "B_INDEX_4\020\004\022\017\n\013SUB_INDEX_5\020\005\022\017\n\013SUB_INDE" +
+      "X_6\020\006\022\017\n\013SUB_INDEX_7\020\007b\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+        });
+    internal_static_cmvr_msgs_SdoFrame_descriptor =
+      getDescriptor().getMessageTypes().get(0);
+    internal_static_cmvr_msgs_SdoFrame_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_msgs_SdoFrame_descriptor,
+        new java.lang.String[] { "NodeId", "Cs", "Index", "SubIndex", "Data", });
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Cia402.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Cia402.java
new file mode 100644
index 0000000..b6db0bd
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Cia402.java
@@ -0,0 +1,586 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/msgs/cia402.proto
+
+package cmvr.msgs;
+
+public final class Cia402 {
+  private Cia402() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+  /**
+   * 
+   * CiA402 object dictionary indexes shared by CANopen and EtherCAT CoE drives.
+   * 

+   *
+   * Protobuf enum {@code cmvr.msgs.Cia402ObjectIndex}
+   */
+  public enum Cia402ObjectIndex
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * CIA402_OBJECT_INDEX_ZERO = 0;
+     */
+    CIA402_OBJECT_INDEX_ZERO(0),
+    /**
+     * CIA402_ERROR_CODE_603F = 24639;
+     */
+    CIA402_ERROR_CODE_603F(24639),
+    /**
+     * CIA402_CONTROL_WORD_6040 = 24640;
+     */
+    CIA402_CONTROL_WORD_6040(24640),
+    /**
+     * CIA402_STATUS_WORD_6041 = 24641;
+     */
+    CIA402_STATUS_WORD_6041(24641),
+    /**
+     * CIA402_QUICK_STOP_OPTION_605A = 24666;
+     */
+    CIA402_QUICK_STOP_OPTION_605A(24666),
+    /**
+     * CIA402_SHUTDOWN_OPTION_605B = 24667;
+     */
+    CIA402_SHUTDOWN_OPTION_605B(24667),
+    /**
+     * CIA402_DISABLE_OPERATION_OPTION_605C = 24668;
+     */
+    CIA402_DISABLE_OPERATION_OPTION_605C(24668),
+    /**
+     * CIA402_HALT_OPTION_605D = 24669;
+     */
+    CIA402_HALT_OPTION_605D(24669),
+    /**
+     * CIA402_FAULT_REACTION_OPTION_605E = 24670;
+     */
+    CIA402_FAULT_REACTION_OPTION_605E(24670),
+    /**
+     * CIA402_OPERATION_MODE_6060 = 24672;
+     */
+    CIA402_OPERATION_MODE_6060(24672),
+    /**
+     * CIA402_MODE_DISPLAY_6061 = 24673;
+     */
+    CIA402_MODE_DISPLAY_6061(24673),
+    /**
+     * CIA402_POSITION_DEMAND_VALUE_6062 = 24674;
+     */
+    CIA402_POSITION_DEMAND_VALUE_6062(24674),
+    /**
+     * CIA402_ACTUAL_POSITION_6064 = 24676;
+     */
+    CIA402_ACTUAL_POSITION_6064(24676),
+    /**
+     * CIA402_MAX_FOLLOWING_ERROR_6065 = 24677;
+     */
+    CIA402_MAX_FOLLOWING_ERROR_6065(24677),
+    /**
+     * CIA402_POSITION_WINDOW_6067 = 24679;
+     */
+    CIA402_POSITION_WINDOW_6067(24679),
+    /**
+     * CIA402_POSITION_WINDOW_TIME_6068 = 24680;
+     */
+    CIA402_POSITION_WINDOW_TIME_6068(24680),
+    /**
+     * CIA402_VELOCITY_DEMAND_VALUE_606B = 24683;
+     */
+    CIA402_VELOCITY_DEMAND_VALUE_606B(24683),
+    /**
+     * CIA402_ACTUAL_VELOCITY_606C = 24684;
+     */
+    CIA402_ACTUAL_VELOCITY_606C(24684),
+    /**
+     * CIA402_VELOCITY_WINDOW_606D = 24685;
+     */
+    CIA402_VELOCITY_WINDOW_606D(24685),
+    /**
+     * CIA402_VELOCITY_WINDOW_TIME_606E = 24686;
+     */
+    CIA402_VELOCITY_WINDOW_TIME_606E(24686),
+    /**
+     * CIA402_VELOCITY_THRESHOLD_606F = 24687;
+     */
+    CIA402_VELOCITY_THRESHOLD_606F(24687),
+    /**
+     * CIA402_VELOCITY_THRESHOLD_TIME_6070 = 24688;
+     */
+    CIA402_VELOCITY_THRESHOLD_TIME_6070(24688),
+    /**
+     * CIA402_TARGET_TORQUE_6071 = 24689;
+     */
+    CIA402_TARGET_TORQUE_6071(24689),
+    /**
+     * CIA402_MAX_TORQUE_6072 = 24690;
+     */
+    CIA402_MAX_TORQUE_6072(24690),
+    /**
+     * CIA402_TORQUE_DEMAND_VALUE_6074 = 24692;
+     */
+    CIA402_TORQUE_DEMAND_VALUE_6074(24692),
+    /**
+     * CIA402_MOTOR_RATED_TORQUE_6076 = 24694;
+     */
+    CIA402_MOTOR_RATED_TORQUE_6076(24694),
+    /**
+     * CIA402_ACTUAL_TORQUE_6077 = 24695;
+     */
+    CIA402_ACTUAL_TORQUE_6077(24695),
+    /**
+     * CIA402_ACTUAL_CURRENT_6078 = 24696;
+     */
+    CIA402_ACTUAL_CURRENT_6078(24696),
+    /**
+     * CIA402_DC_LINK_VOLTAGE_6079 = 24697;
+     */
+    CIA402_DC_LINK_VOLTAGE_6079(24697),
+    /**
+     * CIA402_TARGET_POSITION_607A = 24698;
+     */
+    CIA402_TARGET_POSITION_607A(24698),
+    /**
+     * CIA402_HOME_OFFSET_607C = 24700;
+     */
+    CIA402_HOME_OFFSET_607C(24700),
+    /**
+     * CIA402_SOFTWARE_POSITION_LIMIT_607D = 24701;
+     */
+    CIA402_SOFTWARE_POSITION_LIMIT_607D(24701),
+    /**
+     * CIA402_MAX_PROFILE_VELOCITY_607F = 24703;
+     */
+    CIA402_MAX_PROFILE_VELOCITY_607F(24703),
+    /**
+     * CIA402_PROFILE_VELOCITY_6081 = 24705;
+     */
+    CIA402_PROFILE_VELOCITY_6081(24705),
+    /**
+     * CIA402_PROFILE_ACCELERATION_6083 = 24707;
+     */
+    CIA402_PROFILE_ACCELERATION_6083(24707),
+    /**
+     * CIA402_PROFILE_DECELERATION_6084 = 24708;
+     */
+    CIA402_PROFILE_DECELERATION_6084(24708),
+    /**
+     * CIA402_QUICK_STOP_DECELERATION_6085 = 24709;
+     */
+    CIA402_QUICK_STOP_DECELERATION_6085(24709),
+    /**
+     * CIA402_TORQUE_SLOPE_6087 = 24711;
+     */
+    CIA402_TORQUE_SLOPE_6087(24711),
+    /**
+     * CIA402_GEAR_RATIO_6091 = 24721;
+     */
+    CIA402_GEAR_RATIO_6091(24721),
+    /**
+     * CIA402_VELOCITY_OFFSET_60B1 = 24753;
+     */
+    CIA402_VELOCITY_OFFSET_60B1(24753),
+    /**
+     * CIA402_TORQUE_OFFSET_60B2 = 24754;
+     */
+    CIA402_TORQUE_OFFSET_60B2(24754),
+    /**
+     * CIA402_INTERPOLATION_DATA_RECORD_60C1 = 24769;
+     */
+    CIA402_INTERPOLATION_DATA_RECORD_60C1(24769),
+    /**
+     * CIA402_INTERPOLATION_TIME_PERIOD_60C2 = 24770;
+     */
+    CIA402_INTERPOLATION_TIME_PERIOD_60C2(24770),
+    /**
+     * CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4 = 24820;
+     */
+    CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4(24820),
+    /**
+     * CIA402_TARGET_VELOCITY_60FF = 24831;
+     */
+    CIA402_TARGET_VELOCITY_60FF(24831),
+    /**
+     * CIA402_SUPPORTED_DRIVE_MODES_6502 = 25858;
+     */
+    CIA402_SUPPORTED_DRIVE_MODES_6502(25858),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * CIA402_OBJECT_INDEX_ZERO = 0;
+     */
+    public static final int CIA402_OBJECT_INDEX_ZERO_VALUE = 0;
+    /**
+     * CIA402_ERROR_CODE_603F = 24639;
+     */
+    public static final int CIA402_ERROR_CODE_603F_VALUE = 24639;
+    /**
+     * CIA402_CONTROL_WORD_6040 = 24640;
+     */
+    public static final int CIA402_CONTROL_WORD_6040_VALUE = 24640;
+    /**
+     * CIA402_STATUS_WORD_6041 = 24641;
+     */
+    public static final int CIA402_STATUS_WORD_6041_VALUE = 24641;
+    /**
+     * CIA402_QUICK_STOP_OPTION_605A = 24666;
+     */
+    public static final int CIA402_QUICK_STOP_OPTION_605A_VALUE = 24666;
+    /**
+     * CIA402_SHUTDOWN_OPTION_605B = 24667;
+     */
+    public static final int CIA402_SHUTDOWN_OPTION_605B_VALUE = 24667;
+    /**
+     * CIA402_DISABLE_OPERATION_OPTION_605C = 24668;
+     */
+    public static final int CIA402_DISABLE_OPERATION_OPTION_605C_VALUE = 24668;
+    /**
+     * CIA402_HALT_OPTION_605D = 24669;
+     */
+    public static final int CIA402_HALT_OPTION_605D_VALUE = 24669;
+    /**
+     * CIA402_FAULT_REACTION_OPTION_605E = 24670;
+     */
+    public static final int CIA402_FAULT_REACTION_OPTION_605E_VALUE = 24670;
+    /**
+     * CIA402_OPERATION_MODE_6060 = 24672;
+     */
+    public static final int CIA402_OPERATION_MODE_6060_VALUE = 24672;
+    /**
+     * CIA402_MODE_DISPLAY_6061 = 24673;
+     */
+    public static final int CIA402_MODE_DISPLAY_6061_VALUE = 24673;
+    /**
+     * CIA402_POSITION_DEMAND_VALUE_6062 = 24674;
+     */
+    public static final int CIA402_POSITION_DEMAND_VALUE_6062_VALUE = 24674;
+    /**
+     * CIA402_ACTUAL_POSITION_6064 = 24676;
+     */
+    public static final int CIA402_ACTUAL_POSITION_6064_VALUE = 24676;
+    /**
+     * CIA402_MAX_FOLLOWING_ERROR_6065 = 24677;
+     */
+    public static final int CIA402_MAX_FOLLOWING_ERROR_6065_VALUE = 24677;
+    /**
+     * CIA402_POSITION_WINDOW_6067 = 24679;
+     */
+    public static final int CIA402_POSITION_WINDOW_6067_VALUE = 24679;
+    /**
+     * CIA402_POSITION_WINDOW_TIME_6068 = 24680;
+     */
+    public static final int CIA402_POSITION_WINDOW_TIME_6068_VALUE = 24680;
+    /**
+     * CIA402_VELOCITY_DEMAND_VALUE_606B = 24683;
+     */
+    public static final int CIA402_VELOCITY_DEMAND_VALUE_606B_VALUE = 24683;
+    /**
+     * CIA402_ACTUAL_VELOCITY_606C = 24684;
+     */
+    public static final int CIA402_ACTUAL_VELOCITY_606C_VALUE = 24684;
+    /**
+     * CIA402_VELOCITY_WINDOW_606D = 24685;
+     */
+    public static final int CIA402_VELOCITY_WINDOW_606D_VALUE = 24685;
+    /**
+     * CIA402_VELOCITY_WINDOW_TIME_606E = 24686;
+     */
+    public static final int CIA402_VELOCITY_WINDOW_TIME_606E_VALUE = 24686;
+    /**
+     * CIA402_VELOCITY_THRESHOLD_606F = 24687;
+     */
+    public static final int CIA402_VELOCITY_THRESHOLD_606F_VALUE = 24687;
+    /**
+     * CIA402_VELOCITY_THRESHOLD_TIME_6070 = 24688;
+     */
+    public static final int CIA402_VELOCITY_THRESHOLD_TIME_6070_VALUE = 24688;
+    /**
+     * CIA402_TARGET_TORQUE_6071 = 24689;
+     */
+    public static final int CIA402_TARGET_TORQUE_6071_VALUE = 24689;
+    /**
+     * CIA402_MAX_TORQUE_6072 = 24690;
+     */
+    public static final int CIA402_MAX_TORQUE_6072_VALUE = 24690;
+    /**
+     * CIA402_TORQUE_DEMAND_VALUE_6074 = 24692;
+     */
+    public static final int CIA402_TORQUE_DEMAND_VALUE_6074_VALUE = 24692;
+    /**
+     * CIA402_MOTOR_RATED_TORQUE_6076 = 24694;
+     */
+    public static final int CIA402_MOTOR_RATED_TORQUE_6076_VALUE = 24694;
+    /**
+     * CIA402_ACTUAL_TORQUE_6077 = 24695;
+     */
+    public static final int CIA402_ACTUAL_TORQUE_6077_VALUE = 24695;
+    /**
+     * CIA402_ACTUAL_CURRENT_6078 = 24696;
+     */
+    public static final int CIA402_ACTUAL_CURRENT_6078_VALUE = 24696;
+    /**
+     * CIA402_DC_LINK_VOLTAGE_6079 = 24697;
+     */
+    public static final int CIA402_DC_LINK_VOLTAGE_6079_VALUE = 24697;
+    /**
+     * CIA402_TARGET_POSITION_607A = 24698;
+     */
+    public static final int CIA402_TARGET_POSITION_607A_VALUE = 24698;
+    /**
+     * CIA402_HOME_OFFSET_607C = 24700;
+     */
+    public static final int CIA402_HOME_OFFSET_607C_VALUE = 24700;
+    /**
+     * CIA402_SOFTWARE_POSITION_LIMIT_607D = 24701;
+     */
+    public static final int CIA402_SOFTWARE_POSITION_LIMIT_607D_VALUE = 24701;
+    /**
+     * CIA402_MAX_PROFILE_VELOCITY_607F = 24703;
+     */
+    public static final int CIA402_MAX_PROFILE_VELOCITY_607F_VALUE = 24703;
+    /**
+     * CIA402_PROFILE_VELOCITY_6081 = 24705;
+     */
+    public static final int CIA402_PROFILE_VELOCITY_6081_VALUE = 24705;
+    /**
+     * CIA402_PROFILE_ACCELERATION_6083 = 24707;
+     */
+    public static final int CIA402_PROFILE_ACCELERATION_6083_VALUE = 24707;
+    /**
+     * CIA402_PROFILE_DECELERATION_6084 = 24708;
+     */
+    public static final int CIA402_PROFILE_DECELERATION_6084_VALUE = 24708;
+    /**
+     * CIA402_QUICK_STOP_DECELERATION_6085 = 24709;
+     */
+    public static final int CIA402_QUICK_STOP_DECELERATION_6085_VALUE = 24709;
+    /**
+     * CIA402_TORQUE_SLOPE_6087 = 24711;
+     */
+    public static final int CIA402_TORQUE_SLOPE_6087_VALUE = 24711;
+    /**
+     * CIA402_GEAR_RATIO_6091 = 24721;
+     */
+    public static final int CIA402_GEAR_RATIO_6091_VALUE = 24721;
+    /**
+     * CIA402_VELOCITY_OFFSET_60B1 = 24753;
+     */
+    public static final int CIA402_VELOCITY_OFFSET_60B1_VALUE = 24753;
+    /**
+     * CIA402_TORQUE_OFFSET_60B2 = 24754;
+     */
+    public static final int CIA402_TORQUE_OFFSET_60B2_VALUE = 24754;
+    /**
+     * CIA402_INTERPOLATION_DATA_RECORD_60C1 = 24769;
+     */
+    public static final int CIA402_INTERPOLATION_DATA_RECORD_60C1_VALUE = 24769;
+    /**
+     * CIA402_INTERPOLATION_TIME_PERIOD_60C2 = 24770;
+     */
+    public static final int CIA402_INTERPOLATION_TIME_PERIOD_60C2_VALUE = 24770;
+    /**
+     * CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4 = 24820;
+     */
+    public static final int CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4_VALUE = 24820;
+    /**
+     * CIA402_TARGET_VELOCITY_60FF = 24831;
+     */
+    public static final int CIA402_TARGET_VELOCITY_60FF_VALUE = 24831;
+    /**
+     * CIA402_SUPPORTED_DRIVE_MODES_6502 = 25858;
+     */
+    public static final int CIA402_SUPPORTED_DRIVE_MODES_6502_VALUE = 25858;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static Cia402ObjectIndex valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static Cia402ObjectIndex forNumber(int value) {
+      switch (value) {
+        case 0: return CIA402_OBJECT_INDEX_ZERO;
+        case 24639: return CIA402_ERROR_CODE_603F;
+        case 24640: return CIA402_CONTROL_WORD_6040;
+        case 24641: return CIA402_STATUS_WORD_6041;
+        case 24666: return CIA402_QUICK_STOP_OPTION_605A;
+        case 24667: return CIA402_SHUTDOWN_OPTION_605B;
+        case 24668: return CIA402_DISABLE_OPERATION_OPTION_605C;
+        case 24669: return CIA402_HALT_OPTION_605D;
+        case 24670: return CIA402_FAULT_REACTION_OPTION_605E;
+        case 24672: return CIA402_OPERATION_MODE_6060;
+        case 24673: return CIA402_MODE_DISPLAY_6061;
+        case 24674: return CIA402_POSITION_DEMAND_VALUE_6062;
+        case 24676: return CIA402_ACTUAL_POSITION_6064;
+        case 24677: return CIA402_MAX_FOLLOWING_ERROR_6065;
+        case 24679: return CIA402_POSITION_WINDOW_6067;
+        case 24680: return CIA402_POSITION_WINDOW_TIME_6068;
+        case 24683: return CIA402_VELOCITY_DEMAND_VALUE_606B;
+        case 24684: return CIA402_ACTUAL_VELOCITY_606C;
+        case 24685: return CIA402_VELOCITY_WINDOW_606D;
+        case 24686: return CIA402_VELOCITY_WINDOW_TIME_606E;
+        case 24687: return CIA402_VELOCITY_THRESHOLD_606F;
+        case 24688: return CIA402_VELOCITY_THRESHOLD_TIME_6070;
+        case 24689: return CIA402_TARGET_TORQUE_6071;
+        case 24690: return CIA402_MAX_TORQUE_6072;
+        case 24692: return CIA402_TORQUE_DEMAND_VALUE_6074;
+        case 24694: return CIA402_MOTOR_RATED_TORQUE_6076;
+        case 24695: return CIA402_ACTUAL_TORQUE_6077;
+        case 24696: return CIA402_ACTUAL_CURRENT_6078;
+        case 24697: return CIA402_DC_LINK_VOLTAGE_6079;
+        case 24698: return CIA402_TARGET_POSITION_607A;
+        case 24700: return CIA402_HOME_OFFSET_607C;
+        case 24701: return CIA402_SOFTWARE_POSITION_LIMIT_607D;
+        case 24703: return CIA402_MAX_PROFILE_VELOCITY_607F;
+        case 24705: return CIA402_PROFILE_VELOCITY_6081;
+        case 24707: return CIA402_PROFILE_ACCELERATION_6083;
+        case 24708: return CIA402_PROFILE_DECELERATION_6084;
+        case 24709: return CIA402_QUICK_STOP_DECELERATION_6085;
+        case 24711: return CIA402_TORQUE_SLOPE_6087;
+        case 24721: return CIA402_GEAR_RATIO_6091;
+        case 24753: return CIA402_VELOCITY_OFFSET_60B1;
+        case 24754: return CIA402_TORQUE_OFFSET_60B2;
+        case 24769: return CIA402_INTERPOLATION_DATA_RECORD_60C1;
+        case 24770: return CIA402_INTERPOLATION_TIME_PERIOD_60C2;
+        case 24820: return CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4;
+        case 24831: return CIA402_TARGET_VELOCITY_60FF;
+        case 25858: return CIA402_SUPPORTED_DRIVE_MODES_6502;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        Cia402ObjectIndex> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public Cia402ObjectIndex findValueByNumber(int number) {
+              return Cia402ObjectIndex.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.msgs.Cia402.getDescriptor().getEnumTypes().get(0);
+    }
+
+    private static final Cia402ObjectIndex[] VALUES = values();
+
+    public static Cia402ObjectIndex valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private Cia402ObjectIndex(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.msgs.Cia402ObjectIndex)
+  }
+
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\026cmvr/msgs/cia402.proto\022\tcmvr.msgs*\260\r\n\021" +
+      "Cia402ObjectIndex\022\034\n\030CIA402_OBJECT_INDEX" +
+      "_ZERO\020\000\022\034\n\026CIA402_ERROR_CODE_603F\020\277\300\001\022\036\n" +
+      "\030CIA402_CONTROL_WORD_6040\020\300\300\001\022\035\n\027CIA402_" +
+      "STATUS_WORD_6041\020\301\300\001\022#\n\035CIA402_QUICK_STO" +
+      "P_OPTION_605A\020\332\300\001\022!\n\033CIA402_SHUTDOWN_OPT" +
+      "ION_605B\020\333\300\001\022*\n$CIA402_DISABLE_OPERATION" +
+      "_OPTION_605C\020\334\300\001\022\035\n\027CIA402_HALT_OPTION_6" +
+      "05D\020\335\300\001\022\'\n!CIA402_FAULT_REACTION_OPTION_" +
+      "605E\020\336\300\001\022 \n\032CIA402_OPERATION_MODE_6060\020\340" +
+      "\300\001\022\036\n\030CIA402_MODE_DISPLAY_6061\020\341\300\001\022\'\n!CI" +
+      "A402_POSITION_DEMAND_VALUE_6062\020\342\300\001\022!\n\033C" +
+      "IA402_ACTUAL_POSITION_6064\020\344\300\001\022%\n\037CIA402" +
+      "_MAX_FOLLOWING_ERROR_6065\020\345\300\001\022!\n\033CIA402_" +
+      "POSITION_WINDOW_6067\020\347\300\001\022&\n CIA402_POSIT" +
+      "ION_WINDOW_TIME_6068\020\350\300\001\022\'\n!CIA402_VELOC" +
+      "ITY_DEMAND_VALUE_606B\020\353\300\001\022!\n\033CIA402_ACTU" +
+      "AL_VELOCITY_606C\020\354\300\001\022!\n\033CIA402_VELOCITY_" +
+      "WINDOW_606D\020\355\300\001\022&\n CIA402_VELOCITY_WINDO" +
+      "W_TIME_606E\020\356\300\001\022$\n\036CIA402_VELOCITY_THRES" +
+      "HOLD_606F\020\357\300\001\022)\n#CIA402_VELOCITY_THRESHO" +
+      "LD_TIME_6070\020\360\300\001\022\037\n\031CIA402_TARGET_TORQUE" +
+      "_6071\020\361\300\001\022\034\n\026CIA402_MAX_TORQUE_6072\020\362\300\001\022" +
+      "%\n\037CIA402_TORQUE_DEMAND_VALUE_6074\020\364\300\001\022$" +
+      "\n\036CIA402_MOTOR_RATED_TORQUE_6076\020\366\300\001\022\037\n\031" +
+      "CIA402_ACTUAL_TORQUE_6077\020\367\300\001\022 \n\032CIA402_" +
+      "ACTUAL_CURRENT_6078\020\370\300\001\022!\n\033CIA402_DC_LIN" +
+      "K_VOLTAGE_6079\020\371\300\001\022!\n\033CIA402_TARGET_POSI" +
+      "TION_607A\020\372\300\001\022\035\n\027CIA402_HOME_OFFSET_607C" +
+      "\020\374\300\001\022)\n#CIA402_SOFTWARE_POSITION_LIMIT_6" +
+      "07D\020\375\300\001\022&\n CIA402_MAX_PROFILE_VELOCITY_6" +
+      "07F\020\377\300\001\022\"\n\034CIA402_PROFILE_VELOCITY_6081\020" +
+      "\201\301\001\022&\n CIA402_PROFILE_ACCELERATION_6083\020" +
+      "\203\301\001\022&\n CIA402_PROFILE_DECELERATION_6084\020" +
+      "\204\301\001\022)\n#CIA402_QUICK_STOP_DECELERATION_60" +
+      "85\020\205\301\001\022\036\n\030CIA402_TORQUE_SLOPE_6087\020\207\301\001\022\034" +
+      "\n\026CIA402_GEAR_RATIO_6091\020\221\301\001\022!\n\033CIA402_V" +
+      "ELOCITY_OFFSET_60B1\020\261\301\001\022\037\n\031CIA402_TORQUE" +
+      "_OFFSET_60B2\020\262\301\001\022+\n%CIA402_INTERPOLATION" +
+      "_DATA_RECORD_60C1\020\301\301\001\022+\n%CIA402_INTERPOL" +
+      "ATION_TIME_PERIOD_60C2\020\302\301\001\022.\n(CIA402_FOL" +
+      "LOWING_ERROR_ACTUAL_VALUE_60F4\020\364\301\001\022!\n\033CI" +
+      "A402_TARGET_VELOCITY_60FF\020\377\301\001\022\'\n!CIA402_" +
+      "SUPPORTED_DRIVE_MODES_6502\020\202\312\001b\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+        });
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/ErrorCodeOuterClass.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/ErrorCodeOuterClass.java
new file mode 100644
index 0000000..9438683
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/ErrorCodeOuterClass.java
@@ -0,0 +1,909 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/msgs/error_code.proto
+
+package cmvr.msgs;
+
+public final class ErrorCodeOuterClass {
+  private ErrorCodeOuterClass() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+  /**
+   * 
+   * Error codes enum for API's categorized by modules.
+   * 

+   *
+   * Protobuf enum {@code cmvr.msgs.ErrorCode}
+   */
+  public enum ErrorCode
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * 
+     * No error, returns on success.
+     * 

+     *
+     * OK = 0;
+     */
+    OK(0),
+    /**
+     * 
+     * Canbus module error codes start from here.
+     * 

+     *
+     * CANBUS_ERROR = 2000;
+     */
+    CANBUS_ERROR(2000),
+    /**
+     * CAN_CLIENT_ERROR_BASE = 2100;
+     */
+    CAN_CLIENT_ERROR_BASE(2100),
+    /**
+     * CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101;
+     */
+    CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED(2101),
+    /**
+     * CAN_CLIENT_ERROR_FRAME_NUM = 2102;
+     */
+    CAN_CLIENT_ERROR_FRAME_NUM(2102),
+    /**
+     * CAN_CLIENT_ERROR_SEND_FAILED = 2103;
+     */
+    CAN_CLIENT_ERROR_SEND_FAILED(2103),
+    /**
+     * CAN_CLIENT_ERROR_RECV_FAILED = 2104;
+     */
+    CAN_CLIENT_ERROR_RECV_FAILED(2104),
+    /**
+     * 
+     * motor
+     * 

+     *
+     * MOTOR_ERROR = 3000;
+     */
+    MOTOR_ERROR(3000),
+    /**
+     * MOTOR_ERROR_SET_ZERO = 3001;
+     */
+    MOTOR_ERROR_SET_ZERO(3001),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * 
+     * No error, returns on success.
+     * 

+     *
+     * OK = 0;
+     */
+    public static final int OK_VALUE = 0;
+    /**
+     * 
+     * Canbus module error codes start from here.
+     * 

+     *
+     * CANBUS_ERROR = 2000;
+     */
+    public static final int CANBUS_ERROR_VALUE = 2000;
+    /**
+     * CAN_CLIENT_ERROR_BASE = 2100;
+     */
+    public static final int CAN_CLIENT_ERROR_BASE_VALUE = 2100;
+    /**
+     * CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101;
+     */
+    public static final int CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED_VALUE = 2101;
+    /**
+     * CAN_CLIENT_ERROR_FRAME_NUM = 2102;
+     */
+    public static final int CAN_CLIENT_ERROR_FRAME_NUM_VALUE = 2102;
+    /**
+     * CAN_CLIENT_ERROR_SEND_FAILED = 2103;
+     */
+    public static final int CAN_CLIENT_ERROR_SEND_FAILED_VALUE = 2103;
+    /**
+     * CAN_CLIENT_ERROR_RECV_FAILED = 2104;
+     */
+    public static final int CAN_CLIENT_ERROR_RECV_FAILED_VALUE = 2104;
+    /**
+     * 
+     * motor
+     * 

+     *
+     * MOTOR_ERROR = 3000;
+     */
+    public static final int MOTOR_ERROR_VALUE = 3000;
+    /**
+     * MOTOR_ERROR_SET_ZERO = 3001;
+     */
+    public static final int MOTOR_ERROR_SET_ZERO_VALUE = 3001;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static ErrorCode valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static ErrorCode forNumber(int value) {
+      switch (value) {
+        case 0: return OK;
+        case 2000: return CANBUS_ERROR;
+        case 2100: return CAN_CLIENT_ERROR_BASE;
+        case 2101: return CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED;
+        case 2102: return CAN_CLIENT_ERROR_FRAME_NUM;
+        case 2103: return CAN_CLIENT_ERROR_SEND_FAILED;
+        case 2104: return CAN_CLIENT_ERROR_RECV_FAILED;
+        case 3000: return MOTOR_ERROR;
+        case 3001: return MOTOR_ERROR_SET_ZERO;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        ErrorCode> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public ErrorCode findValueByNumber(int number) {
+              return ErrorCode.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.msgs.ErrorCodeOuterClass.getDescriptor().getEnumTypes().get(0);
+    }
+
+    private static final ErrorCode[] VALUES = values();
+
+    public static ErrorCode valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private ErrorCode(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.msgs.ErrorCode)
+  }
+
+  public interface StatusPbOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.msgs.StatusPb)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * .cmvr.msgs.ErrorCode error_code = 1;
+     * @return The enum numeric value on the wire for errorCode.
+     */
+    int getErrorCodeValue();
+    /**
+     * .cmvr.msgs.ErrorCode error_code = 1;
+     * @return The errorCode.
+     */
+    cmvr.msgs.ErrorCodeOuterClass.ErrorCode getErrorCode();
+
+    /**
+     * string msg = 2;
+     * @return The msg.
+     */
+    java.lang.String getMsg();
+    /**
+     * string msg = 2;
+     * @return The bytes for msg.
+     */
+    com.google.protobuf.ByteString
+        getMsgBytes();
+  }
+  /**
+   * Protobuf type {@code cmvr.msgs.StatusPb}
+   */
+  public static final class StatusPb extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.msgs.StatusPb)
+      StatusPbOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use StatusPb.newBuilder() to construct.
+    private StatusPb(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private StatusPb() {
+      errorCode_ = 0;
+      msg_ = "";
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new StatusPb();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.msgs.ErrorCodeOuterClass.internal_static_cmvr_msgs_StatusPb_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.msgs.ErrorCodeOuterClass.internal_static_cmvr_msgs_StatusPb_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.msgs.ErrorCodeOuterClass.StatusPb.class, cmvr.msgs.ErrorCodeOuterClass.StatusPb.Builder.class);
+    }
+
+    public static final int ERROR_CODE_FIELD_NUMBER = 1;
+    private int errorCode_;
+    /**
+     * .cmvr.msgs.ErrorCode error_code = 1;
+     * @return The enum numeric value on the wire for errorCode.
+     */
+    @java.lang.Override public int getErrorCodeValue() {
+      return errorCode_;
+    }
+    /**
+     * .cmvr.msgs.ErrorCode error_code = 1;
+     * @return The errorCode.
+     */
+    @java.lang.Override public cmvr.msgs.ErrorCodeOuterClass.ErrorCode getErrorCode() {
+      @SuppressWarnings("deprecation")
+      cmvr.msgs.ErrorCodeOuterClass.ErrorCode result = cmvr.msgs.ErrorCodeOuterClass.ErrorCode.valueOf(errorCode_);
+      return result == null ? cmvr.msgs.ErrorCodeOuterClass.ErrorCode.UNRECOGNIZED : result;
+    }
+
+    public static final int MSG_FIELD_NUMBER = 2;
+    private volatile java.lang.Object msg_;
+    /**
+     * string msg = 2;
+     * @return The msg.
+     */
+    @java.lang.Override
+    public java.lang.String getMsg() {
+      java.lang.Object ref = msg_;
+      if (ref instanceof java.lang.String) {
+        return (java.lang.String) ref;
+      } else {
+        com.google.protobuf.ByteString bs = 
+            (com.google.protobuf.ByteString) ref;
+        java.lang.String s = bs.toStringUtf8();
+        msg_ = s;
+        return s;
+      }
+    }
+    /**
+     * string msg = 2;
+     * @return The bytes for msg.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString
+        getMsgBytes() {
+      java.lang.Object ref = msg_;
+      if (ref instanceof java.lang.String) {
+        com.google.protobuf.ByteString b = 
+            com.google.protobuf.ByteString.copyFromUtf8(
+                (java.lang.String) ref);
+        msg_ = b;
+        return b;
+      } else {
+        return (com.google.protobuf.ByteString) ref;
+      }
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (errorCode_ != cmvr.msgs.ErrorCodeOuterClass.ErrorCode.OK.getNumber()) {
+        output.writeEnum(1, errorCode_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(msg_)) {
+        com.google.protobuf.GeneratedMessageV3.writeString(output, 2, msg_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (errorCode_ != cmvr.msgs.ErrorCodeOuterClass.ErrorCode.OK.getNumber()) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeEnumSize(1, errorCode_);
+      }
+      if (!com.google.protobuf.GeneratedMessageV3.isStringEmpty(msg_)) {
+        size += com.google.protobuf.GeneratedMessageV3.computeStringSize(2, msg_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.msgs.ErrorCodeOuterClass.StatusPb)) {
+        return super.equals(obj);
+      }
+      cmvr.msgs.ErrorCodeOuterClass.StatusPb other = (cmvr.msgs.ErrorCodeOuterClass.StatusPb) obj;
+
+      if (errorCode_ != other.errorCode_) return false;
+      if (!getMsg()
+          .equals(other.getMsg())) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (37 * hash) + ERROR_CODE_FIELD_NUMBER;
+      hash = (53 * hash) + errorCode_;
+      hash = (37 * hash) + MSG_FIELD_NUMBER;
+      hash = (53 * hash) + getMsg().hashCode();
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.msgs.ErrorCodeOuterClass.StatusPb prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.msgs.StatusPb}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.msgs.StatusPb)
+        cmvr.msgs.ErrorCodeOuterClass.StatusPbOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.msgs.ErrorCodeOuterClass.internal_static_cmvr_msgs_StatusPb_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.msgs.ErrorCodeOuterClass.internal_static_cmvr_msgs_StatusPb_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.msgs.ErrorCodeOuterClass.StatusPb.class, cmvr.msgs.ErrorCodeOuterClass.StatusPb.Builder.class);
+      }
+
+      // Construct using cmvr.msgs.ErrorCodeOuterClass.StatusPb.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        errorCode_ = 0;
+
+        msg_ = "";
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.msgs.ErrorCodeOuterClass.internal_static_cmvr_msgs_StatusPb_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.ErrorCodeOuterClass.StatusPb getDefaultInstanceForType() {
+        return cmvr.msgs.ErrorCodeOuterClass.StatusPb.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.ErrorCodeOuterClass.StatusPb build() {
+        cmvr.msgs.ErrorCodeOuterClass.StatusPb result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.ErrorCodeOuterClass.StatusPb buildPartial() {
+        cmvr.msgs.ErrorCodeOuterClass.StatusPb result = new cmvr.msgs.ErrorCodeOuterClass.StatusPb(this);
+        result.errorCode_ = errorCode_;
+        result.msg_ = msg_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.msgs.ErrorCodeOuterClass.StatusPb) {
+          return mergeFrom((cmvr.msgs.ErrorCodeOuterClass.StatusPb)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.msgs.ErrorCodeOuterClass.StatusPb other) {
+        if (other == cmvr.msgs.ErrorCodeOuterClass.StatusPb.getDefaultInstance()) return this;
+        if (other.errorCode_ != 0) {
+          setErrorCodeValue(other.getErrorCodeValue());
+        }
+        if (!other.getMsg().isEmpty()) {
+          msg_ = other.msg_;
+          onChanged();
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 8: {
+                errorCode_ = input.readEnum();
+
+                break;
+              } // case 8
+              case 18: {
+                msg_ = input.readStringRequireUtf8();
+
+                break;
+              } // case 18
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private int errorCode_ = 0;
+      /**
+       * .cmvr.msgs.ErrorCode error_code = 1;
+       * @return The enum numeric value on the wire for errorCode.
+       */
+      @java.lang.Override public int getErrorCodeValue() {
+        return errorCode_;
+      }
+      /**
+       * .cmvr.msgs.ErrorCode error_code = 1;
+       * @param value The enum numeric value on the wire for errorCode to set.
+       * @return This builder for chaining.
+       */
+      public Builder setErrorCodeValue(int value) {
+        
+        errorCode_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.msgs.ErrorCode error_code = 1;
+       * @return The errorCode.
+       */
+      @java.lang.Override
+      public cmvr.msgs.ErrorCodeOuterClass.ErrorCode getErrorCode() {
+        @SuppressWarnings("deprecation")
+        cmvr.msgs.ErrorCodeOuterClass.ErrorCode result = cmvr.msgs.ErrorCodeOuterClass.ErrorCode.valueOf(errorCode_);
+        return result == null ? cmvr.msgs.ErrorCodeOuterClass.ErrorCode.UNRECOGNIZED : result;
+      }
+      /**
+       * .cmvr.msgs.ErrorCode error_code = 1;
+       * @param value The errorCode to set.
+       * @return This builder for chaining.
+       */
+      public Builder setErrorCode(cmvr.msgs.ErrorCodeOuterClass.ErrorCode value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        
+        errorCode_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.msgs.ErrorCode error_code = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearErrorCode() {
+        
+        errorCode_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private java.lang.Object msg_ = "";
+      /**
+       * string msg = 2;
+       * @return The msg.
+       */
+      public java.lang.String getMsg() {
+        java.lang.Object ref = msg_;
+        if (!(ref instanceof java.lang.String)) {
+          com.google.protobuf.ByteString bs =
+              (com.google.protobuf.ByteString) ref;
+          java.lang.String s = bs.toStringUtf8();
+          msg_ = s;
+          return s;
+        } else {
+          return (java.lang.String) ref;
+        }
+      }
+      /**
+       * string msg = 2;
+       * @return The bytes for msg.
+       */
+      public com.google.protobuf.ByteString
+          getMsgBytes() {
+        java.lang.Object ref = msg_;
+        if (ref instanceof String) {
+          com.google.protobuf.ByteString b = 
+              com.google.protobuf.ByteString.copyFromUtf8(
+                  (java.lang.String) ref);
+          msg_ = b;
+          return b;
+        } else {
+          return (com.google.protobuf.ByteString) ref;
+        }
+      }
+      /**
+       * string msg = 2;
+       * @param value The msg to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMsg(
+          java.lang.String value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        msg_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * string msg = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearMsg() {
+        
+        msg_ = getDefaultInstance().getMsg();
+        onChanged();
+        return this;
+      }
+      /**
+       * string msg = 2;
+       * @param value The bytes for msg to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMsgBytes(
+          com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  checkByteStringIsUtf8(value);
+        
+        msg_ = value;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.msgs.StatusPb)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.msgs.StatusPb)
+    private static final cmvr.msgs.ErrorCodeOuterClass.StatusPb DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.msgs.ErrorCodeOuterClass.StatusPb();
+    }
+
+    public static cmvr.msgs.ErrorCodeOuterClass.StatusPb getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public StatusPb parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.msgs.ErrorCodeOuterClass.StatusPb getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_msgs_StatusPb_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_msgs_StatusPb_fieldAccessorTable;
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\032cmvr/msgs/error_code.proto\022\tcmvr.msgs\"" +
+      "A\n\010StatusPb\022(\n\nerror_code\030\001 \001(\0162\024.cmvr.m" +
+      "sgs.ErrorCode\022\013\n\003msg\030\002 \001(\t*\200\002\n\tErrorCode" +
+      "\022\006\n\002OK\020\000\022\021\n\014CANBUS_ERROR\020\320\017\022\032\n\025CAN_CLIEN" +
+      "T_ERROR_BASE\020\264\020\022(\n#CAN_CLIENT_ERROR_OPEN" +
+      "_DEVICE_FAILED\020\265\020\022\037\n\032CAN_CLIENT_ERROR_FR" +
+      "AME_NUM\020\266\020\022!\n\034CAN_CLIENT_ERROR_SEND_FAIL" +
+      "ED\020\267\020\022!\n\034CAN_CLIENT_ERROR_RECV_FAILED\020\270\020" +
+      "\022\020\n\013MOTOR_ERROR\020\270\027\022\031\n\024MOTOR_ERROR_SET_ZE" +
+      "RO\020\271\027b\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+        });
+    internal_static_cmvr_msgs_StatusPb_descriptor =
+      getDescriptor().getMessageTypes().get(0);
+    internal_static_cmvr_msgs_StatusPb_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_msgs_StatusPb_descriptor,
+        new java.lang.String[] { "ErrorCode", "Msg", });
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Motor.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Motor.java
new file mode 100644
index 0000000..c65a65f
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/Motor.java
@@ -0,0 +1,4964 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/msgs/motor.proto
+
+package cmvr.msgs;
+
+public final class Motor {
+  private Motor() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+  /**
+   * 
+   * 电机控制模式（Operation Mode）
+   * 

+   *
+   * Protobuf enum {@code cmvr.msgs.RunMode}
+   */
+  public enum RunMode
+      implements com.google.protobuf.ProtocolMessageEnum {
+    /**
+     * 
+     * 未指定
+     * 

+     *
+     * RUN_MODE_UNSPECIFIED = 0;
+     */
+    RUN_MODE_UNSPECIFIED(0),
+    /**
+     * 
+     * Profile Position Mode - 位置模式
+     * 

+     *
+     * RUN_MODE_PROFILE_POSITION = 1;
+     */
+    RUN_MODE_PROFILE_POSITION(1),
+    /**
+     * 
+     * Velocity Mode - 简单速度模式
+     * 

+     *
+     * RUN_MODE_VELOCITY = 2;
+     */
+    RUN_MODE_VELOCITY(2),
+    /**
+     * 
+     * Profile Velocity Mode - 速度模式（带轮廓）
+     * 

+     *
+     * RUN_MODE_PROFILE_VELOCITY = 3;
+     */
+    RUN_MODE_PROFILE_VELOCITY(3),
+    /**
+     * 
+     * Torque Mode - 转矩模式
+     * 

+     *
+     * RUN_MODE_TORQUE = 4;
+     */
+    RUN_MODE_TORQUE(4),
+    /**
+     * 
+     * Homing Mode - 回零模式
+     * 

+     *
+     * RUN_MODE_HOMING = 5;
+     */
+    RUN_MODE_HOMING(5),
+    /**
+     * 
+     * Interpolation Mode - 位置插补模式
+     * 

+     *
+     * RUN_MODE_INTERPOLATED_POSITION = 7;
+     */
+    RUN_MODE_INTERPOLATED_POSITION(7),
+    /**
+     * 
+     * Cyclic Synchronous Position Mode - 周期位置模式
+     * 

+     *
+     * RUN_MODE_CYCLIC_SYNC_POSITION = 8;
+     */
+    RUN_MODE_CYCLIC_SYNC_POSITION(8),
+    /**
+     * 
+     * Cyclic Synchronous Velocity Mode - 周期速度模式
+     * 

+     *
+     * RUN_MODE_CYCLIC_SYNC_VELOCITY = 9;
+     */
+    RUN_MODE_CYCLIC_SYNC_VELOCITY(9),
+    /**
+     * 
+     * Cyclic Synchronous Current Mode - 周期转矩模式
+     * 

+     *
+     * RUN_MODE_CYCLIC_SYNC_CURRENT = 10;
+     */
+    RUN_MODE_CYCLIC_SYNC_CURRENT(10),
+    UNRECOGNIZED(-1),
+    ;
+
+    /**
+     * 
+     * 未指定
+     * 

+     *
+     * RUN_MODE_UNSPECIFIED = 0;
+     */
+    public static final int RUN_MODE_UNSPECIFIED_VALUE = 0;
+    /**
+     * 
+     * Profile Position Mode - 位置模式
+     * 

+     *
+     * RUN_MODE_PROFILE_POSITION = 1;
+     */
+    public static final int RUN_MODE_PROFILE_POSITION_VALUE = 1;
+    /**
+     * 
+     * Velocity Mode - 简单速度模式
+     * 

+     *
+     * RUN_MODE_VELOCITY = 2;
+     */
+    public static final int RUN_MODE_VELOCITY_VALUE = 2;
+    /**
+     * 
+     * Profile Velocity Mode - 速度模式（带轮廓）
+     * 

+     *
+     * RUN_MODE_PROFILE_VELOCITY = 3;
+     */
+    public static final int RUN_MODE_PROFILE_VELOCITY_VALUE = 3;
+    /**
+     * 
+     * Torque Mode - 转矩模式
+     * 

+     *
+     * RUN_MODE_TORQUE = 4;
+     */
+    public static final int RUN_MODE_TORQUE_VALUE = 4;
+    /**
+     * 
+     * Homing Mode - 回零模式
+     * 

+     *
+     * RUN_MODE_HOMING = 5;
+     */
+    public static final int RUN_MODE_HOMING_VALUE = 5;
+    /**
+     * 
+     * Interpolation Mode - 位置插补模式
+     * 

+     *
+     * RUN_MODE_INTERPOLATED_POSITION = 7;
+     */
+    public static final int RUN_MODE_INTERPOLATED_POSITION_VALUE = 7;
+    /**
+     * 
+     * Cyclic Synchronous Position Mode - 周期位置模式
+     * 

+     *
+     * RUN_MODE_CYCLIC_SYNC_POSITION = 8;
+     */
+    public static final int RUN_MODE_CYCLIC_SYNC_POSITION_VALUE = 8;
+    /**
+     * 
+     * Cyclic Synchronous Velocity Mode - 周期速度模式
+     * 

+     *
+     * RUN_MODE_CYCLIC_SYNC_VELOCITY = 9;
+     */
+    public static final int RUN_MODE_CYCLIC_SYNC_VELOCITY_VALUE = 9;
+    /**
+     * 
+     * Cyclic Synchronous Current Mode - 周期转矩模式
+     * 

+     *
+     * RUN_MODE_CYCLIC_SYNC_CURRENT = 10;
+     */
+    public static final int RUN_MODE_CYCLIC_SYNC_CURRENT_VALUE = 10;
+
+
+    public final int getNumber() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalArgumentException(
+            "Can't get the number of an unknown enum value.");
+      }
+      return value;
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     * @deprecated Use {@link #forNumber(int)} instead.
+     */
+    @java.lang.Deprecated
+    public static RunMode valueOf(int value) {
+      return forNumber(value);
+    }
+
+    /**
+     * @param value The numeric wire value of the corresponding enum entry.
+     * @return The enum associated with the given numeric wire value.
+     */
+    public static RunMode forNumber(int value) {
+      switch (value) {
+        case 0: return RUN_MODE_UNSPECIFIED;
+        case 1: return RUN_MODE_PROFILE_POSITION;
+        case 2: return RUN_MODE_VELOCITY;
+        case 3: return RUN_MODE_PROFILE_VELOCITY;
+        case 4: return RUN_MODE_TORQUE;
+        case 5: return RUN_MODE_HOMING;
+        case 7: return RUN_MODE_INTERPOLATED_POSITION;
+        case 8: return RUN_MODE_CYCLIC_SYNC_POSITION;
+        case 9: return RUN_MODE_CYCLIC_SYNC_VELOCITY;
+        case 10: return RUN_MODE_CYCLIC_SYNC_CURRENT;
+        default: return null;
+      }
+    }
+
+    public static com.google.protobuf.Internal.EnumLiteMap
+        internalGetValueMap() {
+      return internalValueMap;
+    }
+    private static final com.google.protobuf.Internal.EnumLiteMap<
+        RunMode> internalValueMap =
+          new com.google.protobuf.Internal.EnumLiteMap() {
+            public RunMode findValueByNumber(int number) {
+              return RunMode.forNumber(number);
+            }
+          };
+
+    public final com.google.protobuf.Descriptors.EnumValueDescriptor
+        getValueDescriptor() {
+      if (this == UNRECOGNIZED) {
+        throw new java.lang.IllegalStateException(
+            "Can't get the descriptor of an unrecognized enum value.");
+      }
+      return getDescriptor().getValues().get(ordinal());
+    }
+    public final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptorForType() {
+      return getDescriptor();
+    }
+    public static final com.google.protobuf.Descriptors.EnumDescriptor
+        getDescriptor() {
+      return cmvr.msgs.Motor.getDescriptor().getEnumTypes().get(0);
+    }
+
+    private static final RunMode[] VALUES = values();
+
+    public static RunMode valueOf(
+        com.google.protobuf.Descriptors.EnumValueDescriptor desc) {
+      if (desc.getType() != getDescriptor()) {
+        throw new java.lang.IllegalArgumentException(
+          "EnumValueDescriptor is not for this type.");
+      }
+      if (desc.getIndex() == -1) {
+        return UNRECOGNIZED;
+      }
+      return VALUES[desc.getIndex()];
+    }
+
+    private final int value;
+
+    private RunMode(int value) {
+      this.value = value;
+    }
+
+    // @@protoc_insertion_point(enum_scope:cmvr.msgs.RunMode)
+  }
+
+  public interface MotorStatusOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.msgs.MotorStatus)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * 
+     * 当前运行模式
+     * 

+     *
+     * .cmvr.msgs.RunMode run_mode = 1;
+     * @return The enum numeric value on the wire for runMode.
+     */
+    int getRunModeValue();
+    /**
+     * 
+     * 当前运行模式
+     * 

+     *
+     * .cmvr.msgs.RunMode run_mode = 1;
+     * @return The runMode.
+     */
+    cmvr.msgs.Motor.RunMode getRunMode();
+
+    /**
+     * 
+     * 当前电流（单位：mA）
+     * 

+     *
+     * int32 current = 2;
+     * @return The current.
+     */
+    int getCurrent();
+
+    /**
+     * 
+     * 目标电流（单位：mA）
+     * 

+     *
+     * int32 target_current = 3;
+     * @return The targetCurrent.
+     */
+    int getTargetCurrent();
+
+    /**
+     * 
+     * 当前速度，转换为度每秒：(speed / 100 / 减速比) * 360
+     * 

+     *
+     * int32 speed = 4;
+     * @return The speed.
+     */
+    int getSpeed();
+
+    /**
+     * 
+     * 目标速度，单位同上
+     * 

+     *
+     * int32 target_speed = 5;
+     * @return The targetSpeed.
+     */
+    int getTargetSpeed();
+
+    /**
+     * 
+     * 当前电机位置（位置转角度：(position / 65536 / 减速比) * 360）
+     * 

+     *
+     * int32 position = 6;
+     * @return The position.
+     */
+    int getPosition();
+
+    /**
+     * 
+     * 目标位置（非位置模式无效）
+     * 

+     *
+     * int32 target_position = 7;
+     * @return The targetPosition.
+     */
+    int getTargetPosition();
+
+    /**
+     * 
+     * 错误状态位（见位说明）
+     * 

+     *
+     * uint32 error_state = 8;
+     * @return The errorState.
+     */
+    int getErrorState();
+
+    /**
+     * 
+     * 速度环Kp，含模式和速度信息（bit复用）
+     * 

+     *
+     * int32 speed_kp = 9;
+     * @return The speedKp.
+     */
+    int getSpeedKp();
+
+    /**
+     * 
+     * 速度环Ki，含模式和速度信息（bit复用）
+     * 

+     *
+     * int32 speed_ki = 10;
+     * @return The speedKi.
+     */
+    int getSpeedKi();
+
+    /**
+     * 
+     * 速度环Kd
+     * 

+     *
+     * int32 speed_kd = 11;
+     * @return The speedKd.
+     */
+    int getSpeedKd();
+
+    /**
+     * 
+     * 位置环Kp
+     * 

+     *
+     * int32 position_kp = 12;
+     * @return The positionKp.
+     */
+    int getPositionKp();
+
+    /**
+     * 
+     * 位置环Ki
+     * 

+     *
+     * int32 position_ki = 13;
+     * @return The positionKi.
+     */
+    int getPositionKi();
+
+    /**
+     * 
+     * 位置环Kd
+     * 

+     *
+     * int32 position_kd = 14;
+     * @return The positionKd.
+     */
+    int getPositionKd();
+
+    /**
+     * 
+     * 母线电压
+     * 

+     *
+     * int32 bus_voltage = 15;
+     * @return The busVoltage.
+     */
+    int getBusVoltage();
+
+    /**
+     * 
+     * 最大电流绝对值（单位：mA）
+     * 

+     *
+     * int32 max_abs_current = 16;
+     * @return The maxAbsCurrent.
+     */
+    int getMaxAbsCurrent();
+
+    /**
+     * 
+     * 最大正电流（单位：mA）
+     * 

+     *
+     * int32 max_pos_current = 17;
+     * @return The maxPosCurrent.
+     */
+    int getMaxPosCurrent();
+
+    /**
+     * 
+     * 最小负电流（单位：mA）
+     * 

+     *
+     * int32 min_neg_current = 18;
+     * @return The minNegCurrent.
+     */
+    int getMinNegCurrent();
+
+    /**
+     * 
+     * 最大正向加速度
+     * 

+     *
+     * int32 max_pos_accel = 19;
+     * @return The maxPosAccel.
+     */
+    int getMaxPosAccel();
+
+    /**
+     * 
+     * 最小负向加速度
+     * 

+     *
+     * int32 min_neg_accel = 20;
+     * @return The minNegAccel.
+     */
+    int getMinNegAccel();
+
+    /**
+     * 
+     * 最大正向速度（转化为度/秒）
+     * 

+     *
+     * int32 max_pos_velocity = 21;
+     * @return The maxPosVelocity.
+     */
+    int getMaxPosVelocity();
+
+    /**
+     * 
+     * 最小负向速度（转化为度/秒）
+     * 

+     *
+     * int32 min_neg_velocity = 22;
+     * @return The minNegVelocity.
+     */
+    int getMinNegVelocity();
+
+    /**
+     * 
+     * 最大正向位置（角度）
+     * 

+     *
+     * int32 max_pos_position = 23;
+     * @return The maxPosPosition.
+     */
+    int getMaxPosPosition();
+
+    /**
+     * 
+     * 最小负向位置（角度）
+     * 

+     *
+     * int32 min_neg_position = 24;
+     * @return The minNegPosition.
+     */
+    int getMinNegPosition();
+
+    /**
+     * 
+     * 电机温度（单位：摄氏度）
+     * 

+     *
+     * int32 motor_temp = 25;
+     * @return The motorTemp.
+     */
+    int getMotorTemp();
+
+    /**
+     * 
+     * 电路板温度（单位：摄氏度）
+     * 

+     *
+     * int32 board_temp = 26;
+     * @return The boardTemp.
+     */
+    int getBoardTemp();
+
+    /**
+     * 
+     * 电流P
+     * 

+     *
+     * int32 current_kp = 27;
+     * @return The currentKp.
+     */
+    int getCurrentKp();
+
+    /**
+     * 
+     * 电流I
+     * 

+     *
+     * int32 current_ki = 28;
+     * @return The currentKi.
+     */
+    int getCurrentKi();
+
+    /**
+     * 
+     * 电流D
+     * 

+     *
+     * int32 current_kd = 29;
+     * @return The currentKd.
+     */
+    int getCurrentKd();
+
+    /**
+     * 
+     * 电机型号（复合字段，包含刹车、ACTUATOR_TYPE等）
+     * 

+     *
+     * int32 motor_type = 30;
+     * @return The motorType.
+     */
+    int getMotorType();
+
+    /**
+     * 
+     * 电机版本号（软件+硬件，16进制格式）
+     * 

+     *
+     * int32 motor_version = 31;
+     * @return The motorVersion.
+     */
+    int getMotorVersion();
+
+    /**
+     * 
+     * 软件版本号（16进制格式）
+     * 

+     *
+     * int32 software_version = 32;
+     * @return The softwareVersion.
+     */
+    int getSoftwareVersion();
+
+    /**
+     * 
+     * 当前位置偏移（编码器位置 - 偏移值）
+     * 

+     *
+     * int32 position_offset = 33;
+     * @return The positionOffset.
+     */
+    int getPositionOffset();
+
+    /**
+     * 
+     * 获取CSP，8字节数据
+     * 

+     *
+     * bytes csp_data = 34;
+     * @return The cspData.
+     */
+    com.google.protobuf.ByteString getCspData();
+
+    /**
+     * 
+     * 编码器电池电压（新版硬件支持）
+     * 

+     *
+     * int32 encoder_voltage = 35;
+     * @return The encoderVoltage.
+     */
+    int getEncoderVoltage();
+
+    /**
+     * 
+     * 编码器状态（双编码器=外圈位置，单编码器=状态）
+     * 

+     *
+     * int32 encoder_state = 36;
+     * @return The encoderState.
+     */
+    int getEncoderState();
+
+    /**
+     * 
+     * 过压阈值（单位：V）
+     * 

+     *
+     * int32 overvoltage_limit = 37;
+     * @return The overvoltageLimit.
+     */
+    int getOvervoltageLimit();
+
+    /**
+     * 
+     * 欠压阈值（单位：V）
+     * 

+     *
+     * int32 undervoltage_limit = 38;
+     * @return The undervoltageLimit.
+     */
+    int getUndervoltageLimit();
+
+    /**
+     * 
+     * 电机线圈过温阈值（单位：℃）
+     * 

+     *
+     * int32 coil_over_temp = 39;
+     * @return The coilOverTemp.
+     */
+    int getCoilOverTemp();
+
+    /**
+     * 
+     * 驱动板过温阈值（单位：℃）
+     * 

+     *
+     * int32 driver_over_temp = 40;
+     * @return The driverOverTemp.
+     */
+    int getDriverOverTemp();
+
+    /**
+     * 
+     * ---------------------
+     * CANOPEN 特有的参数
+     * --------------------
+     * 

+     *
+     * .cmvr.msgs.SdoFrame sdo_response = 41;
+     * @return Whether the sdoResponse field is set.
+     */
+    boolean hasSdoResponse();
+    /**
+     * 
+     * ---------------------
+     * CANOPEN 特有的参数
+     * --------------------
+     * 

+     *
+     * .cmvr.msgs.SdoFrame sdo_response = 41;
+     * @return The sdoResponse.
+     */
+    cmvr.msgs.Canopen.SdoFrame getSdoResponse();
+    /**
+     * 
+     * ---------------------
+     * CANOPEN 特有的参数
+     * --------------------
+     * 

+     *
+     * .cmvr.msgs.SdoFrame sdo_response = 41;
+     */
+    cmvr.msgs.Canopen.SdoFrameOrBuilder getSdoResponseOrBuilder();
+
+    /**
+     * .cmvr.msgs.NmtState nmt_state = 42;
+     * @return The enum numeric value on the wire for nmtState.
+     */
+    int getNmtStateValue();
+    /**
+     * .cmvr.msgs.NmtState nmt_state = 42;
+     * @return The nmtState.
+     */
+    cmvr.msgs.Canopen.NmtState getNmtState();
+
+    /**
+     * 
+     * 只保留值，具体值在使用的时候使用联合体去解析
+     * 

+     *
+     * uint32 ctrl_word = 43;
+     * @return The ctrlWord.
+     */
+    int getCtrlWord();
+
+    /**
+     * uint32 status_word = 44;
+     * @return The statusWord.
+     */
+    int getStatusWord();
+  }
+  /**
+   * 
+   * 电机状态数据
+   * 

+   *
+   * Protobuf type {@code cmvr.msgs.MotorStatus}
+   */
+  public static final class MotorStatus extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.msgs.MotorStatus)
+      MotorStatusOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use MotorStatus.newBuilder() to construct.
+    private MotorStatus(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private MotorStatus() {
+      runMode_ = 0;
+      cspData_ = com.google.protobuf.ByteString.EMPTY;
+      nmtState_ = 0;
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new MotorStatus();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.msgs.Motor.internal_static_cmvr_msgs_MotorStatus_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.msgs.Motor.internal_static_cmvr_msgs_MotorStatus_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.msgs.Motor.MotorStatus.class, cmvr.msgs.Motor.MotorStatus.Builder.class);
+    }
+
+    public static final int RUN_MODE_FIELD_NUMBER = 1;
+    private int runMode_;
+    /**
+     * 
+     * 当前运行模式
+     * 

+     *
+     * .cmvr.msgs.RunMode run_mode = 1;
+     * @return The enum numeric value on the wire for runMode.
+     */
+    @java.lang.Override public int getRunModeValue() {
+      return runMode_;
+    }
+    /**
+     * 
+     * 当前运行模式
+     * 

+     *
+     * .cmvr.msgs.RunMode run_mode = 1;
+     * @return The runMode.
+     */
+    @java.lang.Override public cmvr.msgs.Motor.RunMode getRunMode() {
+      @SuppressWarnings("deprecation")
+      cmvr.msgs.Motor.RunMode result = cmvr.msgs.Motor.RunMode.valueOf(runMode_);
+      return result == null ? cmvr.msgs.Motor.RunMode.UNRECOGNIZED : result;
+    }
+
+    public static final int CURRENT_FIELD_NUMBER = 2;
+    private int current_;
+    /**
+     * 
+     * 当前电流（单位：mA）
+     * 

+     *
+     * int32 current = 2;
+     * @return The current.
+     */
+    @java.lang.Override
+    public int getCurrent() {
+      return current_;
+    }
+
+    public static final int TARGET_CURRENT_FIELD_NUMBER = 3;
+    private int targetCurrent_;
+    /**
+     * 
+     * 目标电流（单位：mA）
+     * 

+     *
+     * int32 target_current = 3;
+     * @return The targetCurrent.
+     */
+    @java.lang.Override
+    public int getTargetCurrent() {
+      return targetCurrent_;
+    }
+
+    public static final int SPEED_FIELD_NUMBER = 4;
+    private int speed_;
+    /**
+     * 
+     * 当前速度，转换为度每秒：(speed / 100 / 减速比) * 360
+     * 

+     *
+     * int32 speed = 4;
+     * @return The speed.
+     */
+    @java.lang.Override
+    public int getSpeed() {
+      return speed_;
+    }
+
+    public static final int TARGET_SPEED_FIELD_NUMBER = 5;
+    private int targetSpeed_;
+    /**
+     * 
+     * 目标速度，单位同上
+     * 

+     *
+     * int32 target_speed = 5;
+     * @return The targetSpeed.
+     */
+    @java.lang.Override
+    public int getTargetSpeed() {
+      return targetSpeed_;
+    }
+
+    public static final int POSITION_FIELD_NUMBER = 6;
+    private int position_;
+    /**
+     * 
+     * 当前电机位置（位置转角度：(position / 65536 / 减速比) * 360）
+     * 

+     *
+     * int32 position = 6;
+     * @return The position.
+     */
+    @java.lang.Override
+    public int getPosition() {
+      return position_;
+    }
+
+    public static final int TARGET_POSITION_FIELD_NUMBER = 7;
+    private int targetPosition_;
+    /**
+     * 
+     * 目标位置（非位置模式无效）
+     * 

+     *
+     * int32 target_position = 7;
+     * @return The targetPosition.
+     */
+    @java.lang.Override
+    public int getTargetPosition() {
+      return targetPosition_;
+    }
+
+    public static final int ERROR_STATE_FIELD_NUMBER = 8;
+    private int errorState_;
+    /**
+     * 
+     * 错误状态位（见位说明）
+     * 

+     *
+     * uint32 error_state = 8;
+     * @return The errorState.
+     */
+    @java.lang.Override
+    public int getErrorState() {
+      return errorState_;
+    }
+
+    public static final int SPEED_KP_FIELD_NUMBER = 9;
+    private int speedKp_;
+    /**
+     * 
+     * 速度环Kp，含模式和速度信息（bit复用）
+     * 

+     *
+     * int32 speed_kp = 9;
+     * @return The speedKp.
+     */
+    @java.lang.Override
+    public int getSpeedKp() {
+      return speedKp_;
+    }
+
+    public static final int SPEED_KI_FIELD_NUMBER = 10;
+    private int speedKi_;
+    /**
+     * 
+     * 速度环Ki，含模式和速度信息（bit复用）
+     * 

+     *
+     * int32 speed_ki = 10;
+     * @return The speedKi.
+     */
+    @java.lang.Override
+    public int getSpeedKi() {
+      return speedKi_;
+    }
+
+    public static final int SPEED_KD_FIELD_NUMBER = 11;
+    private int speedKd_;
+    /**
+     * 
+     * 速度环Kd
+     * 

+     *
+     * int32 speed_kd = 11;
+     * @return The speedKd.
+     */
+    @java.lang.Override
+    public int getSpeedKd() {
+      return speedKd_;
+    }
+
+    public static final int POSITION_KP_FIELD_NUMBER = 12;
+    private int positionKp_;
+    /**
+     * 
+     * 位置环Kp
+     * 

+     *
+     * int32 position_kp = 12;
+     * @return The positionKp.
+     */
+    @java.lang.Override
+    public int getPositionKp() {
+      return positionKp_;
+    }
+
+    public static final int POSITION_KI_FIELD_NUMBER = 13;
+    private int positionKi_;
+    /**
+     * 
+     * 位置环Ki
+     * 

+     *
+     * int32 position_ki = 13;
+     * @return The positionKi.
+     */
+    @java.lang.Override
+    public int getPositionKi() {
+      return positionKi_;
+    }
+
+    public static final int POSITION_KD_FIELD_NUMBER = 14;
+    private int positionKd_;
+    /**
+     * 
+     * 位置环Kd
+     * 

+     *
+     * int32 position_kd = 14;
+     * @return The positionKd.
+     */
+    @java.lang.Override
+    public int getPositionKd() {
+      return positionKd_;
+    }
+
+    public static final int BUS_VOLTAGE_FIELD_NUMBER = 15;
+    private int busVoltage_;
+    /**
+     * 
+     * 母线电压
+     * 

+     *
+     * int32 bus_voltage = 15;
+     * @return The busVoltage.
+     */
+    @java.lang.Override
+    public int getBusVoltage() {
+      return busVoltage_;
+    }
+
+    public static final int MAX_ABS_CURRENT_FIELD_NUMBER = 16;
+    private int maxAbsCurrent_;
+    /**
+     * 
+     * 最大电流绝对值（单位：mA）
+     * 

+     *
+     * int32 max_abs_current = 16;
+     * @return The maxAbsCurrent.
+     */
+    @java.lang.Override
+    public int getMaxAbsCurrent() {
+      return maxAbsCurrent_;
+    }
+
+    public static final int MAX_POS_CURRENT_FIELD_NUMBER = 17;
+    private int maxPosCurrent_;
+    /**
+     * 
+     * 最大正电流（单位：mA）
+     * 

+     *
+     * int32 max_pos_current = 17;
+     * @return The maxPosCurrent.
+     */
+    @java.lang.Override
+    public int getMaxPosCurrent() {
+      return maxPosCurrent_;
+    }
+
+    public static final int MIN_NEG_CURRENT_FIELD_NUMBER = 18;
+    private int minNegCurrent_;
+    /**
+     * 
+     * 最小负电流（单位：mA）
+     * 

+     *
+     * int32 min_neg_current = 18;
+     * @return The minNegCurrent.
+     */
+    @java.lang.Override
+    public int getMinNegCurrent() {
+      return minNegCurrent_;
+    }
+
+    public static final int MAX_POS_ACCEL_FIELD_NUMBER = 19;
+    private int maxPosAccel_;
+    /**
+     * 
+     * 最大正向加速度
+     * 

+     *
+     * int32 max_pos_accel = 19;
+     * @return The maxPosAccel.
+     */
+    @java.lang.Override
+    public int getMaxPosAccel() {
+      return maxPosAccel_;
+    }
+
+    public static final int MIN_NEG_ACCEL_FIELD_NUMBER = 20;
+    private int minNegAccel_;
+    /**
+     * 
+     * 最小负向加速度
+     * 

+     *
+     * int32 min_neg_accel = 20;
+     * @return The minNegAccel.
+     */
+    @java.lang.Override
+    public int getMinNegAccel() {
+      return minNegAccel_;
+    }
+
+    public static final int MAX_POS_VELOCITY_FIELD_NUMBER = 21;
+    private int maxPosVelocity_;
+    /**
+     * 
+     * 最大正向速度（转化为度/秒）
+     * 

+     *
+     * int32 max_pos_velocity = 21;
+     * @return The maxPosVelocity.
+     */
+    @java.lang.Override
+    public int getMaxPosVelocity() {
+      return maxPosVelocity_;
+    }
+
+    public static final int MIN_NEG_VELOCITY_FIELD_NUMBER = 22;
+    private int minNegVelocity_;
+    /**
+     * 
+     * 最小负向速度（转化为度/秒）
+     * 

+     *
+     * int32 min_neg_velocity = 22;
+     * @return The minNegVelocity.
+     */
+    @java.lang.Override
+    public int getMinNegVelocity() {
+      return minNegVelocity_;
+    }
+
+    public static final int MAX_POS_POSITION_FIELD_NUMBER = 23;
+    private int maxPosPosition_;
+    /**
+     * 
+     * 最大正向位置（角度）
+     * 

+     *
+     * int32 max_pos_position = 23;
+     * @return The maxPosPosition.
+     */
+    @java.lang.Override
+    public int getMaxPosPosition() {
+      return maxPosPosition_;
+    }
+
+    public static final int MIN_NEG_POSITION_FIELD_NUMBER = 24;
+    private int minNegPosition_;
+    /**
+     * 
+     * 最小负向位置（角度）
+     * 

+     *
+     * int32 min_neg_position = 24;
+     * @return The minNegPosition.
+     */
+    @java.lang.Override
+    public int getMinNegPosition() {
+      return minNegPosition_;
+    }
+
+    public static final int MOTOR_TEMP_FIELD_NUMBER = 25;
+    private int motorTemp_;
+    /**
+     * 
+     * 电机温度（单位：摄氏度）
+     * 

+     *
+     * int32 motor_temp = 25;
+     * @return The motorTemp.
+     */
+    @java.lang.Override
+    public int getMotorTemp() {
+      return motorTemp_;
+    }
+
+    public static final int BOARD_TEMP_FIELD_NUMBER = 26;
+    private int boardTemp_;
+    /**
+     * 
+     * 电路板温度（单位：摄氏度）
+     * 

+     *
+     * int32 board_temp = 26;
+     * @return The boardTemp.
+     */
+    @java.lang.Override
+    public int getBoardTemp() {
+      return boardTemp_;
+    }
+
+    public static final int CURRENT_KP_FIELD_NUMBER = 27;
+    private int currentKp_;
+    /**
+     * 
+     * 电流P
+     * 

+     *
+     * int32 current_kp = 27;
+     * @return The currentKp.
+     */
+    @java.lang.Override
+    public int getCurrentKp() {
+      return currentKp_;
+    }
+
+    public static final int CURRENT_KI_FIELD_NUMBER = 28;
+    private int currentKi_;
+    /**
+     * 
+     * 电流I
+     * 

+     *
+     * int32 current_ki = 28;
+     * @return The currentKi.
+     */
+    @java.lang.Override
+    public int getCurrentKi() {
+      return currentKi_;
+    }
+
+    public static final int CURRENT_KD_FIELD_NUMBER = 29;
+    private int currentKd_;
+    /**
+     * 
+     * 电流D
+     * 

+     *
+     * int32 current_kd = 29;
+     * @return The currentKd.
+     */
+    @java.lang.Override
+    public int getCurrentKd() {
+      return currentKd_;
+    }
+
+    public static final int MOTOR_TYPE_FIELD_NUMBER = 30;
+    private int motorType_;
+    /**
+     * 
+     * 电机型号（复合字段，包含刹车、ACTUATOR_TYPE等）
+     * 

+     *
+     * int32 motor_type = 30;
+     * @return The motorType.
+     */
+    @java.lang.Override
+    public int getMotorType() {
+      return motorType_;
+    }
+
+    public static final int MOTOR_VERSION_FIELD_NUMBER = 31;
+    private int motorVersion_;
+    /**
+     * 
+     * 电机版本号（软件+硬件，16进制格式）
+     * 

+     *
+     * int32 motor_version = 31;
+     * @return The motorVersion.
+     */
+    @java.lang.Override
+    public int getMotorVersion() {
+      return motorVersion_;
+    }
+
+    public static final int SOFTWARE_VERSION_FIELD_NUMBER = 32;
+    private int softwareVersion_;
+    /**
+     * 
+     * 软件版本号（16进制格式）
+     * 

+     *
+     * int32 software_version = 32;
+     * @return The softwareVersion.
+     */
+    @java.lang.Override
+    public int getSoftwareVersion() {
+      return softwareVersion_;
+    }
+
+    public static final int POSITION_OFFSET_FIELD_NUMBER = 33;
+    private int positionOffset_;
+    /**
+     * 
+     * 当前位置偏移（编码器位置 - 偏移值）
+     * 

+     *
+     * int32 position_offset = 33;
+     * @return The positionOffset.
+     */
+    @java.lang.Override
+    public int getPositionOffset() {
+      return positionOffset_;
+    }
+
+    public static final int CSP_DATA_FIELD_NUMBER = 34;
+    private com.google.protobuf.ByteString cspData_;
+    /**
+     * 
+     * 获取CSP，8字节数据
+     * 

+     *
+     * bytes csp_data = 34;
+     * @return The cspData.
+     */
+    @java.lang.Override
+    public com.google.protobuf.ByteString getCspData() {
+      return cspData_;
+    }
+
+    public static final int ENCODER_VOLTAGE_FIELD_NUMBER = 35;
+    private int encoderVoltage_;
+    /**
+     * 
+     * 编码器电池电压（新版硬件支持）
+     * 

+     *
+     * int32 encoder_voltage = 35;
+     * @return The encoderVoltage.
+     */
+    @java.lang.Override
+    public int getEncoderVoltage() {
+      return encoderVoltage_;
+    }
+
+    public static final int ENCODER_STATE_FIELD_NUMBER = 36;
+    private int encoderState_;
+    /**
+     * 
+     * 编码器状态（双编码器=外圈位置，单编码器=状态）
+     * 

+     *
+     * int32 encoder_state = 36;
+     * @return The encoderState.
+     */
+    @java.lang.Override
+    public int getEncoderState() {
+      return encoderState_;
+    }
+
+    public static final int OVERVOLTAGE_LIMIT_FIELD_NUMBER = 37;
+    private int overvoltageLimit_;
+    /**
+     * 
+     * 过压阈值（单位：V）
+     * 

+     *
+     * int32 overvoltage_limit = 37;
+     * @return The overvoltageLimit.
+     */
+    @java.lang.Override
+    public int getOvervoltageLimit() {
+      return overvoltageLimit_;
+    }
+
+    public static final int UNDERVOLTAGE_LIMIT_FIELD_NUMBER = 38;
+    private int undervoltageLimit_;
+    /**
+     * 
+     * 欠压阈值（单位：V）
+     * 

+     *
+     * int32 undervoltage_limit = 38;
+     * @return The undervoltageLimit.
+     */
+    @java.lang.Override
+    public int getUndervoltageLimit() {
+      return undervoltageLimit_;
+    }
+
+    public static final int COIL_OVER_TEMP_FIELD_NUMBER = 39;
+    private int coilOverTemp_;
+    /**
+     * 
+     * 电机线圈过温阈值（单位：℃）
+     * 

+     *
+     * int32 coil_over_temp = 39;
+     * @return The coilOverTemp.
+     */
+    @java.lang.Override
+    public int getCoilOverTemp() {
+      return coilOverTemp_;
+    }
+
+    public static final int DRIVER_OVER_TEMP_FIELD_NUMBER = 40;
+    private int driverOverTemp_;
+    /**
+     * 
+     * 驱动板过温阈值（单位：℃）
+     * 

+     *
+     * int32 driver_over_temp = 40;
+     * @return The driverOverTemp.
+     */
+    @java.lang.Override
+    public int getDriverOverTemp() {
+      return driverOverTemp_;
+    }
+
+    public static final int SDO_RESPONSE_FIELD_NUMBER = 41;
+    private cmvr.msgs.Canopen.SdoFrame sdoResponse_;
+    /**
+     * 
+     * ---------------------
+     * CANOPEN 特有的参数
+     * --------------------
+     * 

+     *
+     * .cmvr.msgs.SdoFrame sdo_response = 41;
+     * @return Whether the sdoResponse field is set.
+     */
+    @java.lang.Override
+    public boolean hasSdoResponse() {
+      return sdoResponse_ != null;
+    }
+    /**
+     * 
+     * ---------------------
+     * CANOPEN 特有的参数
+     * --------------------
+     * 

+     *
+     * .cmvr.msgs.SdoFrame sdo_response = 41;
+     * @return The sdoResponse.
+     */
+    @java.lang.Override
+    public cmvr.msgs.Canopen.SdoFrame getSdoResponse() {
+      return sdoResponse_ == null ? cmvr.msgs.Canopen.SdoFrame.getDefaultInstance() : sdoResponse_;
+    }
+    /**
+     * 
+     * ---------------------
+     * CANOPEN 特有的参数
+     * --------------------
+     * 

+     *
+     * .cmvr.msgs.SdoFrame sdo_response = 41;
+     */
+    @java.lang.Override
+    public cmvr.msgs.Canopen.SdoFrameOrBuilder getSdoResponseOrBuilder() {
+      return getSdoResponse();
+    }
+
+    public static final int NMT_STATE_FIELD_NUMBER = 42;
+    private int nmtState_;
+    /**
+     * .cmvr.msgs.NmtState nmt_state = 42;
+     * @return The enum numeric value on the wire for nmtState.
+     */
+    @java.lang.Override public int getNmtStateValue() {
+      return nmtState_;
+    }
+    /**
+     * .cmvr.msgs.NmtState nmt_state = 42;
+     * @return The nmtState.
+     */
+    @java.lang.Override public cmvr.msgs.Canopen.NmtState getNmtState() {
+      @SuppressWarnings("deprecation")
+      cmvr.msgs.Canopen.NmtState result = cmvr.msgs.Canopen.NmtState.valueOf(nmtState_);
+      return result == null ? cmvr.msgs.Canopen.NmtState.UNRECOGNIZED : result;
+    }
+
+    public static final int CTRL_WORD_FIELD_NUMBER = 43;
+    private int ctrlWord_;
+    /**
+     * 
+     * 只保留值，具体值在使用的时候使用联合体去解析
+     * 

+     *
+     * uint32 ctrl_word = 43;
+     * @return The ctrlWord.
+     */
+    @java.lang.Override
+    public int getCtrlWord() {
+      return ctrlWord_;
+    }
+
+    public static final int STATUS_WORD_FIELD_NUMBER = 44;
+    private int statusWord_;
+    /**
+     * uint32 status_word = 44;
+     * @return The statusWord.
+     */
+    @java.lang.Override
+    public int getStatusWord() {
+      return statusWord_;
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      if (runMode_ != cmvr.msgs.Motor.RunMode.RUN_MODE_UNSPECIFIED.getNumber()) {
+        output.writeEnum(1, runMode_);
+      }
+      if (current_ != 0) {
+        output.writeInt32(2, current_);
+      }
+      if (targetCurrent_ != 0) {
+        output.writeInt32(3, targetCurrent_);
+      }
+      if (speed_ != 0) {
+        output.writeInt32(4, speed_);
+      }
+      if (targetSpeed_ != 0) {
+        output.writeInt32(5, targetSpeed_);
+      }
+      if (position_ != 0) {
+        output.writeInt32(6, position_);
+      }
+      if (targetPosition_ != 0) {
+        output.writeInt32(7, targetPosition_);
+      }
+      if (errorState_ != 0) {
+        output.writeUInt32(8, errorState_);
+      }
+      if (speedKp_ != 0) {
+        output.writeInt32(9, speedKp_);
+      }
+      if (speedKi_ != 0) {
+        output.writeInt32(10, speedKi_);
+      }
+      if (speedKd_ != 0) {
+        output.writeInt32(11, speedKd_);
+      }
+      if (positionKp_ != 0) {
+        output.writeInt32(12, positionKp_);
+      }
+      if (positionKi_ != 0) {
+        output.writeInt32(13, positionKi_);
+      }
+      if (positionKd_ != 0) {
+        output.writeInt32(14, positionKd_);
+      }
+      if (busVoltage_ != 0) {
+        output.writeInt32(15, busVoltage_);
+      }
+      if (maxAbsCurrent_ != 0) {
+        output.writeInt32(16, maxAbsCurrent_);
+      }
+      if (maxPosCurrent_ != 0) {
+        output.writeInt32(17, maxPosCurrent_);
+      }
+      if (minNegCurrent_ != 0) {
+        output.writeInt32(18, minNegCurrent_);
+      }
+      if (maxPosAccel_ != 0) {
+        output.writeInt32(19, maxPosAccel_);
+      }
+      if (minNegAccel_ != 0) {
+        output.writeInt32(20, minNegAccel_);
+      }
+      if (maxPosVelocity_ != 0) {
+        output.writeInt32(21, maxPosVelocity_);
+      }
+      if (minNegVelocity_ != 0) {
+        output.writeInt32(22, minNegVelocity_);
+      }
+      if (maxPosPosition_ != 0) {
+        output.writeInt32(23, maxPosPosition_);
+      }
+      if (minNegPosition_ != 0) {
+        output.writeInt32(24, minNegPosition_);
+      }
+      if (motorTemp_ != 0) {
+        output.writeInt32(25, motorTemp_);
+      }
+      if (boardTemp_ != 0) {
+        output.writeInt32(26, boardTemp_);
+      }
+      if (currentKp_ != 0) {
+        output.writeInt32(27, currentKp_);
+      }
+      if (currentKi_ != 0) {
+        output.writeInt32(28, currentKi_);
+      }
+      if (currentKd_ != 0) {
+        output.writeInt32(29, currentKd_);
+      }
+      if (motorType_ != 0) {
+        output.writeInt32(30, motorType_);
+      }
+      if (motorVersion_ != 0) {
+        output.writeInt32(31, motorVersion_);
+      }
+      if (softwareVersion_ != 0) {
+        output.writeInt32(32, softwareVersion_);
+      }
+      if (positionOffset_ != 0) {
+        output.writeInt32(33, positionOffset_);
+      }
+      if (!cspData_.isEmpty()) {
+        output.writeBytes(34, cspData_);
+      }
+      if (encoderVoltage_ != 0) {
+        output.writeInt32(35, encoderVoltage_);
+      }
+      if (encoderState_ != 0) {
+        output.writeInt32(36, encoderState_);
+      }
+      if (overvoltageLimit_ != 0) {
+        output.writeInt32(37, overvoltageLimit_);
+      }
+      if (undervoltageLimit_ != 0) {
+        output.writeInt32(38, undervoltageLimit_);
+      }
+      if (coilOverTemp_ != 0) {
+        output.writeInt32(39, coilOverTemp_);
+      }
+      if (driverOverTemp_ != 0) {
+        output.writeInt32(40, driverOverTemp_);
+      }
+      if (sdoResponse_ != null) {
+        output.writeMessage(41, getSdoResponse());
+      }
+      if (nmtState_ != cmvr.msgs.Canopen.NmtState.NMT_INITIALIZING.getNumber()) {
+        output.writeEnum(42, nmtState_);
+      }
+      if (ctrlWord_ != 0) {
+        output.writeUInt32(43, ctrlWord_);
+      }
+      if (statusWord_ != 0) {
+        output.writeUInt32(44, statusWord_);
+      }
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      if (runMode_ != cmvr.msgs.Motor.RunMode.RUN_MODE_UNSPECIFIED.getNumber()) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeEnumSize(1, runMode_);
+      }
+      if (current_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(2, current_);
+      }
+      if (targetCurrent_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(3, targetCurrent_);
+      }
+      if (speed_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(4, speed_);
+      }
+      if (targetSpeed_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(5, targetSpeed_);
+      }
+      if (position_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(6, position_);
+      }
+      if (targetPosition_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(7, targetPosition_);
+      }
+      if (errorState_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(8, errorState_);
+      }
+      if (speedKp_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(9, speedKp_);
+      }
+      if (speedKi_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(10, speedKi_);
+      }
+      if (speedKd_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(11, speedKd_);
+      }
+      if (positionKp_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(12, positionKp_);
+      }
+      if (positionKi_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(13, positionKi_);
+      }
+      if (positionKd_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(14, positionKd_);
+      }
+      if (busVoltage_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(15, busVoltage_);
+      }
+      if (maxAbsCurrent_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(16, maxAbsCurrent_);
+      }
+      if (maxPosCurrent_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(17, maxPosCurrent_);
+      }
+      if (minNegCurrent_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(18, minNegCurrent_);
+      }
+      if (maxPosAccel_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(19, maxPosAccel_);
+      }
+      if (minNegAccel_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(20, minNegAccel_);
+      }
+      if (maxPosVelocity_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(21, maxPosVelocity_);
+      }
+      if (minNegVelocity_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(22, minNegVelocity_);
+      }
+      if (maxPosPosition_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(23, maxPosPosition_);
+      }
+      if (minNegPosition_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(24, minNegPosition_);
+      }
+      if (motorTemp_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(25, motorTemp_);
+      }
+      if (boardTemp_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(26, boardTemp_);
+      }
+      if (currentKp_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(27, currentKp_);
+      }
+      if (currentKi_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(28, currentKi_);
+      }
+      if (currentKd_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(29, currentKd_);
+      }
+      if (motorType_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(30, motorType_);
+      }
+      if (motorVersion_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(31, motorVersion_);
+      }
+      if (softwareVersion_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(32, softwareVersion_);
+      }
+      if (positionOffset_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(33, positionOffset_);
+      }
+      if (!cspData_.isEmpty()) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeBytesSize(34, cspData_);
+      }
+      if (encoderVoltage_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(35, encoderVoltage_);
+      }
+      if (encoderState_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(36, encoderState_);
+      }
+      if (overvoltageLimit_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(37, overvoltageLimit_);
+      }
+      if (undervoltageLimit_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(38, undervoltageLimit_);
+      }
+      if (coilOverTemp_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(39, coilOverTemp_);
+      }
+      if (driverOverTemp_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeInt32Size(40, driverOverTemp_);
+      }
+      if (sdoResponse_ != null) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeMessageSize(41, getSdoResponse());
+      }
+      if (nmtState_ != cmvr.msgs.Canopen.NmtState.NMT_INITIALIZING.getNumber()) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeEnumSize(42, nmtState_);
+      }
+      if (ctrlWord_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(43, ctrlWord_);
+      }
+      if (statusWord_ != 0) {
+        size += com.google.protobuf.CodedOutputStream
+          .computeUInt32Size(44, statusWord_);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.msgs.Motor.MotorStatus)) {
+        return super.equals(obj);
+      }
+      cmvr.msgs.Motor.MotorStatus other = (cmvr.msgs.Motor.MotorStatus) obj;
+
+      if (runMode_ != other.runMode_) return false;
+      if (getCurrent()
+          != other.getCurrent()) return false;
+      if (getTargetCurrent()
+          != other.getTargetCurrent()) return false;
+      if (getSpeed()
+          != other.getSpeed()) return false;
+      if (getTargetSpeed()
+          != other.getTargetSpeed()) return false;
+      if (getPosition()
+          != other.getPosition()) return false;
+      if (getTargetPosition()
+          != other.getTargetPosition()) return false;
+      if (getErrorState()
+          != other.getErrorState()) return false;
+      if (getSpeedKp()
+          != other.getSpeedKp()) return false;
+      if (getSpeedKi()
+          != other.getSpeedKi()) return false;
+      if (getSpeedKd()
+          != other.getSpeedKd()) return false;
+      if (getPositionKp()
+          != other.getPositionKp()) return false;
+      if (getPositionKi()
+          != other.getPositionKi()) return false;
+      if (getPositionKd()
+          != other.getPositionKd()) return false;
+      if (getBusVoltage()
+          != other.getBusVoltage()) return false;
+      if (getMaxAbsCurrent()
+          != other.getMaxAbsCurrent()) return false;
+      if (getMaxPosCurrent()
+          != other.getMaxPosCurrent()) return false;
+      if (getMinNegCurrent()
+          != other.getMinNegCurrent()) return false;
+      if (getMaxPosAccel()
+          != other.getMaxPosAccel()) return false;
+      if (getMinNegAccel()
+          != other.getMinNegAccel()) return false;
+      if (getMaxPosVelocity()
+          != other.getMaxPosVelocity()) return false;
+      if (getMinNegVelocity()
+          != other.getMinNegVelocity()) return false;
+      if (getMaxPosPosition()
+          != other.getMaxPosPosition()) return false;
+      if (getMinNegPosition()
+          != other.getMinNegPosition()) return false;
+      if (getMotorTemp()
+          != other.getMotorTemp()) return false;
+      if (getBoardTemp()
+          != other.getBoardTemp()) return false;
+      if (getCurrentKp()
+          != other.getCurrentKp()) return false;
+      if (getCurrentKi()
+          != other.getCurrentKi()) return false;
+      if (getCurrentKd()
+          != other.getCurrentKd()) return false;
+      if (getMotorType()
+          != other.getMotorType()) return false;
+      if (getMotorVersion()
+          != other.getMotorVersion()) return false;
+      if (getSoftwareVersion()
+          != other.getSoftwareVersion()) return false;
+      if (getPositionOffset()
+          != other.getPositionOffset()) return false;
+      if (!getCspData()
+          .equals(other.getCspData())) return false;
+      if (getEncoderVoltage()
+          != other.getEncoderVoltage()) return false;
+      if (getEncoderState()
+          != other.getEncoderState()) return false;
+      if (getOvervoltageLimit()
+          != other.getOvervoltageLimit()) return false;
+      if (getUndervoltageLimit()
+          != other.getUndervoltageLimit()) return false;
+      if (getCoilOverTemp()
+          != other.getCoilOverTemp()) return false;
+      if (getDriverOverTemp()
+          != other.getDriverOverTemp()) return false;
+      if (hasSdoResponse() != other.hasSdoResponse()) return false;
+      if (hasSdoResponse()) {
+        if (!getSdoResponse()
+            .equals(other.getSdoResponse())) return false;
+      }
+      if (nmtState_ != other.nmtState_) return false;
+      if (getCtrlWord()
+          != other.getCtrlWord()) return false;
+      if (getStatusWord()
+          != other.getStatusWord()) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      hash = (37 * hash) + RUN_MODE_FIELD_NUMBER;
+      hash = (53 * hash) + runMode_;
+      hash = (37 * hash) + CURRENT_FIELD_NUMBER;
+      hash = (53 * hash) + getCurrent();
+      hash = (37 * hash) + TARGET_CURRENT_FIELD_NUMBER;
+      hash = (53 * hash) + getTargetCurrent();
+      hash = (37 * hash) + SPEED_FIELD_NUMBER;
+      hash = (53 * hash) + getSpeed();
+      hash = (37 * hash) + TARGET_SPEED_FIELD_NUMBER;
+      hash = (53 * hash) + getTargetSpeed();
+      hash = (37 * hash) + POSITION_FIELD_NUMBER;
+      hash = (53 * hash) + getPosition();
+      hash = (37 * hash) + TARGET_POSITION_FIELD_NUMBER;
+      hash = (53 * hash) + getTargetPosition();
+      hash = (37 * hash) + ERROR_STATE_FIELD_NUMBER;
+      hash = (53 * hash) + getErrorState();
+      hash = (37 * hash) + SPEED_KP_FIELD_NUMBER;
+      hash = (53 * hash) + getSpeedKp();
+      hash = (37 * hash) + SPEED_KI_FIELD_NUMBER;
+      hash = (53 * hash) + getSpeedKi();
+      hash = (37 * hash) + SPEED_KD_FIELD_NUMBER;
+      hash = (53 * hash) + getSpeedKd();
+      hash = (37 * hash) + POSITION_KP_FIELD_NUMBER;
+      hash = (53 * hash) + getPositionKp();
+      hash = (37 * hash) + POSITION_KI_FIELD_NUMBER;
+      hash = (53 * hash) + getPositionKi();
+      hash = (37 * hash) + POSITION_KD_FIELD_NUMBER;
+      hash = (53 * hash) + getPositionKd();
+      hash = (37 * hash) + BUS_VOLTAGE_FIELD_NUMBER;
+      hash = (53 * hash) + getBusVoltage();
+      hash = (37 * hash) + MAX_ABS_CURRENT_FIELD_NUMBER;
+      hash = (53 * hash) + getMaxAbsCurrent();
+      hash = (37 * hash) + MAX_POS_CURRENT_FIELD_NUMBER;
+      hash = (53 * hash) + getMaxPosCurrent();
+      hash = (37 * hash) + MIN_NEG_CURRENT_FIELD_NUMBER;
+      hash = (53 * hash) + getMinNegCurrent();
+      hash = (37 * hash) + MAX_POS_ACCEL_FIELD_NUMBER;
+      hash = (53 * hash) + getMaxPosAccel();
+      hash = (37 * hash) + MIN_NEG_ACCEL_FIELD_NUMBER;
+      hash = (53 * hash) + getMinNegAccel();
+      hash = (37 * hash) + MAX_POS_VELOCITY_FIELD_NUMBER;
+      hash = (53 * hash) + getMaxPosVelocity();
+      hash = (37 * hash) + MIN_NEG_VELOCITY_FIELD_NUMBER;
+      hash = (53 * hash) + getMinNegVelocity();
+      hash = (37 * hash) + MAX_POS_POSITION_FIELD_NUMBER;
+      hash = (53 * hash) + getMaxPosPosition();
+      hash = (37 * hash) + MIN_NEG_POSITION_FIELD_NUMBER;
+      hash = (53 * hash) + getMinNegPosition();
+      hash = (37 * hash) + MOTOR_TEMP_FIELD_NUMBER;
+      hash = (53 * hash) + getMotorTemp();
+      hash = (37 * hash) + BOARD_TEMP_FIELD_NUMBER;
+      hash = (53 * hash) + getBoardTemp();
+      hash = (37 * hash) + CURRENT_KP_FIELD_NUMBER;
+      hash = (53 * hash) + getCurrentKp();
+      hash = (37 * hash) + CURRENT_KI_FIELD_NUMBER;
+      hash = (53 * hash) + getCurrentKi();
+      hash = (37 * hash) + CURRENT_KD_FIELD_NUMBER;
+      hash = (53 * hash) + getCurrentKd();
+      hash = (37 * hash) + MOTOR_TYPE_FIELD_NUMBER;
+      hash = (53 * hash) + getMotorType();
+      hash = (37 * hash) + MOTOR_VERSION_FIELD_NUMBER;
+      hash = (53 * hash) + getMotorVersion();
+      hash = (37 * hash) + SOFTWARE_VERSION_FIELD_NUMBER;
+      hash = (53 * hash) + getSoftwareVersion();
+      hash = (37 * hash) + POSITION_OFFSET_FIELD_NUMBER;
+      hash = (53 * hash) + getPositionOffset();
+      hash = (37 * hash) + CSP_DATA_FIELD_NUMBER;
+      hash = (53 * hash) + getCspData().hashCode();
+      hash = (37 * hash) + ENCODER_VOLTAGE_FIELD_NUMBER;
+      hash = (53 * hash) + getEncoderVoltage();
+      hash = (37 * hash) + ENCODER_STATE_FIELD_NUMBER;
+      hash = (53 * hash) + getEncoderState();
+      hash = (37 * hash) + OVERVOLTAGE_LIMIT_FIELD_NUMBER;
+      hash = (53 * hash) + getOvervoltageLimit();
+      hash = (37 * hash) + UNDERVOLTAGE_LIMIT_FIELD_NUMBER;
+      hash = (53 * hash) + getUndervoltageLimit();
+      hash = (37 * hash) + COIL_OVER_TEMP_FIELD_NUMBER;
+      hash = (53 * hash) + getCoilOverTemp();
+      hash = (37 * hash) + DRIVER_OVER_TEMP_FIELD_NUMBER;
+      hash = (53 * hash) + getDriverOverTemp();
+      if (hasSdoResponse()) {
+        hash = (37 * hash) + SDO_RESPONSE_FIELD_NUMBER;
+        hash = (53 * hash) + getSdoResponse().hashCode();
+      }
+      hash = (37 * hash) + NMT_STATE_FIELD_NUMBER;
+      hash = (53 * hash) + nmtState_;
+      hash = (37 * hash) + CTRL_WORD_FIELD_NUMBER;
+      hash = (53 * hash) + getCtrlWord();
+      hash = (37 * hash) + STATUS_WORD_FIELD_NUMBER;
+      hash = (53 * hash) + getStatusWord();
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.msgs.Motor.MotorStatus parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.Motor.MotorStatus parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.Motor.MotorStatus parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.Motor.MotorStatus parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.Motor.MotorStatus parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.Motor.MotorStatus parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.Motor.MotorStatus parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.Motor.MotorStatus parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.msgs.Motor.MotorStatus parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.Motor.MotorStatus parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.msgs.Motor.MotorStatus parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.Motor.MotorStatus parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.msgs.Motor.MotorStatus prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * 
+     * 电机状态数据
+     * 

+     *
+     * Protobuf type {@code cmvr.msgs.MotorStatus}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.msgs.MotorStatus)
+        cmvr.msgs.Motor.MotorStatusOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.msgs.Motor.internal_static_cmvr_msgs_MotorStatus_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.msgs.Motor.internal_static_cmvr_msgs_MotorStatus_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.msgs.Motor.MotorStatus.class, cmvr.msgs.Motor.MotorStatus.Builder.class);
+      }
+
+      // Construct using cmvr.msgs.Motor.MotorStatus.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        runMode_ = 0;
+
+        current_ = 0;
+
+        targetCurrent_ = 0;
+
+        speed_ = 0;
+
+        targetSpeed_ = 0;
+
+        position_ = 0;
+
+        targetPosition_ = 0;
+
+        errorState_ = 0;
+
+        speedKp_ = 0;
+
+        speedKi_ = 0;
+
+        speedKd_ = 0;
+
+        positionKp_ = 0;
+
+        positionKi_ = 0;
+
+        positionKd_ = 0;
+
+        busVoltage_ = 0;
+
+        maxAbsCurrent_ = 0;
+
+        maxPosCurrent_ = 0;
+
+        minNegCurrent_ = 0;
+
+        maxPosAccel_ = 0;
+
+        minNegAccel_ = 0;
+
+        maxPosVelocity_ = 0;
+
+        minNegVelocity_ = 0;
+
+        maxPosPosition_ = 0;
+
+        minNegPosition_ = 0;
+
+        motorTemp_ = 0;
+
+        boardTemp_ = 0;
+
+        currentKp_ = 0;
+
+        currentKi_ = 0;
+
+        currentKd_ = 0;
+
+        motorType_ = 0;
+
+        motorVersion_ = 0;
+
+        softwareVersion_ = 0;
+
+        positionOffset_ = 0;
+
+        cspData_ = com.google.protobuf.ByteString.EMPTY;
+
+        encoderVoltage_ = 0;
+
+        encoderState_ = 0;
+
+        overvoltageLimit_ = 0;
+
+        undervoltageLimit_ = 0;
+
+        coilOverTemp_ = 0;
+
+        driverOverTemp_ = 0;
+
+        if (sdoResponseBuilder_ == null) {
+          sdoResponse_ = null;
+        } else {
+          sdoResponse_ = null;
+          sdoResponseBuilder_ = null;
+        }
+        nmtState_ = 0;
+
+        ctrlWord_ = 0;
+
+        statusWord_ = 0;
+
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.msgs.Motor.internal_static_cmvr_msgs_MotorStatus_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.Motor.MotorStatus getDefaultInstanceForType() {
+        return cmvr.msgs.Motor.MotorStatus.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.Motor.MotorStatus build() {
+        cmvr.msgs.Motor.MotorStatus result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.Motor.MotorStatus buildPartial() {
+        cmvr.msgs.Motor.MotorStatus result = new cmvr.msgs.Motor.MotorStatus(this);
+        result.runMode_ = runMode_;
+        result.current_ = current_;
+        result.targetCurrent_ = targetCurrent_;
+        result.speed_ = speed_;
+        result.targetSpeed_ = targetSpeed_;
+        result.position_ = position_;
+        result.targetPosition_ = targetPosition_;
+        result.errorState_ = errorState_;
+        result.speedKp_ = speedKp_;
+        result.speedKi_ = speedKi_;
+        result.speedKd_ = speedKd_;
+        result.positionKp_ = positionKp_;
+        result.positionKi_ = positionKi_;
+        result.positionKd_ = positionKd_;
+        result.busVoltage_ = busVoltage_;
+        result.maxAbsCurrent_ = maxAbsCurrent_;
+        result.maxPosCurrent_ = maxPosCurrent_;
+        result.minNegCurrent_ = minNegCurrent_;
+        result.maxPosAccel_ = maxPosAccel_;
+        result.minNegAccel_ = minNegAccel_;
+        result.maxPosVelocity_ = maxPosVelocity_;
+        result.minNegVelocity_ = minNegVelocity_;
+        result.maxPosPosition_ = maxPosPosition_;
+        result.minNegPosition_ = minNegPosition_;
+        result.motorTemp_ = motorTemp_;
+        result.boardTemp_ = boardTemp_;
+        result.currentKp_ = currentKp_;
+        result.currentKi_ = currentKi_;
+        result.currentKd_ = currentKd_;
+        result.motorType_ = motorType_;
+        result.motorVersion_ = motorVersion_;
+        result.softwareVersion_ = softwareVersion_;
+        result.positionOffset_ = positionOffset_;
+        result.cspData_ = cspData_;
+        result.encoderVoltage_ = encoderVoltage_;
+        result.encoderState_ = encoderState_;
+        result.overvoltageLimit_ = overvoltageLimit_;
+        result.undervoltageLimit_ = undervoltageLimit_;
+        result.coilOverTemp_ = coilOverTemp_;
+        result.driverOverTemp_ = driverOverTemp_;
+        if (sdoResponseBuilder_ == null) {
+          result.sdoResponse_ = sdoResponse_;
+        } else {
+          result.sdoResponse_ = sdoResponseBuilder_.build();
+        }
+        result.nmtState_ = nmtState_;
+        result.ctrlWord_ = ctrlWord_;
+        result.statusWord_ = statusWord_;
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.msgs.Motor.MotorStatus) {
+          return mergeFrom((cmvr.msgs.Motor.MotorStatus)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.msgs.Motor.MotorStatus other) {
+        if (other == cmvr.msgs.Motor.MotorStatus.getDefaultInstance()) return this;
+        if (other.runMode_ != 0) {
+          setRunModeValue(other.getRunModeValue());
+        }
+        if (other.getCurrent() != 0) {
+          setCurrent(other.getCurrent());
+        }
+        if (other.getTargetCurrent() != 0) {
+          setTargetCurrent(other.getTargetCurrent());
+        }
+        if (other.getSpeed() != 0) {
+          setSpeed(other.getSpeed());
+        }
+        if (other.getTargetSpeed() != 0) {
+          setTargetSpeed(other.getTargetSpeed());
+        }
+        if (other.getPosition() != 0) {
+          setPosition(other.getPosition());
+        }
+        if (other.getTargetPosition() != 0) {
+          setTargetPosition(other.getTargetPosition());
+        }
+        if (other.getErrorState() != 0) {
+          setErrorState(other.getErrorState());
+        }
+        if (other.getSpeedKp() != 0) {
+          setSpeedKp(other.getSpeedKp());
+        }
+        if (other.getSpeedKi() != 0) {
+          setSpeedKi(other.getSpeedKi());
+        }
+        if (other.getSpeedKd() != 0) {
+          setSpeedKd(other.getSpeedKd());
+        }
+        if (other.getPositionKp() != 0) {
+          setPositionKp(other.getPositionKp());
+        }
+        if (other.getPositionKi() != 0) {
+          setPositionKi(other.getPositionKi());
+        }
+        if (other.getPositionKd() != 0) {
+          setPositionKd(other.getPositionKd());
+        }
+        if (other.getBusVoltage() != 0) {
+          setBusVoltage(other.getBusVoltage());
+        }
+        if (other.getMaxAbsCurrent() != 0) {
+          setMaxAbsCurrent(other.getMaxAbsCurrent());
+        }
+        if (other.getMaxPosCurrent() != 0) {
+          setMaxPosCurrent(other.getMaxPosCurrent());
+        }
+        if (other.getMinNegCurrent() != 0) {
+          setMinNegCurrent(other.getMinNegCurrent());
+        }
+        if (other.getMaxPosAccel() != 0) {
+          setMaxPosAccel(other.getMaxPosAccel());
+        }
+        if (other.getMinNegAccel() != 0) {
+          setMinNegAccel(other.getMinNegAccel());
+        }
+        if (other.getMaxPosVelocity() != 0) {
+          setMaxPosVelocity(other.getMaxPosVelocity());
+        }
+        if (other.getMinNegVelocity() != 0) {
+          setMinNegVelocity(other.getMinNegVelocity());
+        }
+        if (other.getMaxPosPosition() != 0) {
+          setMaxPosPosition(other.getMaxPosPosition());
+        }
+        if (other.getMinNegPosition() != 0) {
+          setMinNegPosition(other.getMinNegPosition());
+        }
+        if (other.getMotorTemp() != 0) {
+          setMotorTemp(other.getMotorTemp());
+        }
+        if (other.getBoardTemp() != 0) {
+          setBoardTemp(other.getBoardTemp());
+        }
+        if (other.getCurrentKp() != 0) {
+          setCurrentKp(other.getCurrentKp());
+        }
+        if (other.getCurrentKi() != 0) {
+          setCurrentKi(other.getCurrentKi());
+        }
+        if (other.getCurrentKd() != 0) {
+          setCurrentKd(other.getCurrentKd());
+        }
+        if (other.getMotorType() != 0) {
+          setMotorType(other.getMotorType());
+        }
+        if (other.getMotorVersion() != 0) {
+          setMotorVersion(other.getMotorVersion());
+        }
+        if (other.getSoftwareVersion() != 0) {
+          setSoftwareVersion(other.getSoftwareVersion());
+        }
+        if (other.getPositionOffset() != 0) {
+          setPositionOffset(other.getPositionOffset());
+        }
+        if (other.getCspData() != com.google.protobuf.ByteString.EMPTY) {
+          setCspData(other.getCspData());
+        }
+        if (other.getEncoderVoltage() != 0) {
+          setEncoderVoltage(other.getEncoderVoltage());
+        }
+        if (other.getEncoderState() != 0) {
+          setEncoderState(other.getEncoderState());
+        }
+        if (other.getOvervoltageLimit() != 0) {
+          setOvervoltageLimit(other.getOvervoltageLimit());
+        }
+        if (other.getUndervoltageLimit() != 0) {
+          setUndervoltageLimit(other.getUndervoltageLimit());
+        }
+        if (other.getCoilOverTemp() != 0) {
+          setCoilOverTemp(other.getCoilOverTemp());
+        }
+        if (other.getDriverOverTemp() != 0) {
+          setDriverOverTemp(other.getDriverOverTemp());
+        }
+        if (other.hasSdoResponse()) {
+          mergeSdoResponse(other.getSdoResponse());
+        }
+        if (other.nmtState_ != 0) {
+          setNmtStateValue(other.getNmtStateValue());
+        }
+        if (other.getCtrlWord() != 0) {
+          setCtrlWord(other.getCtrlWord());
+        }
+        if (other.getStatusWord() != 0) {
+          setStatusWord(other.getStatusWord());
+        }
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 8: {
+                runMode_ = input.readEnum();
+
+                break;
+              } // case 8
+              case 16: {
+                current_ = input.readInt32();
+
+                break;
+              } // case 16
+              case 24: {
+                targetCurrent_ = input.readInt32();
+
+                break;
+              } // case 24
+              case 32: {
+                speed_ = input.readInt32();
+
+                break;
+              } // case 32
+              case 40: {
+                targetSpeed_ = input.readInt32();
+
+                break;
+              } // case 40
+              case 48: {
+                position_ = input.readInt32();
+
+                break;
+              } // case 48
+              case 56: {
+                targetPosition_ = input.readInt32();
+
+                break;
+              } // case 56
+              case 64: {
+                errorState_ = input.readUInt32();
+
+                break;
+              } // case 64
+              case 72: {
+                speedKp_ = input.readInt32();
+
+                break;
+              } // case 72
+              case 80: {
+                speedKi_ = input.readInt32();
+
+                break;
+              } // case 80
+              case 88: {
+                speedKd_ = input.readInt32();
+
+                break;
+              } // case 88
+              case 96: {
+                positionKp_ = input.readInt32();
+
+                break;
+              } // case 96
+              case 104: {
+                positionKi_ = input.readInt32();
+
+                break;
+              } // case 104
+              case 112: {
+                positionKd_ = input.readInt32();
+
+                break;
+              } // case 112
+              case 120: {
+                busVoltage_ = input.readInt32();
+
+                break;
+              } // case 120
+              case 128: {
+                maxAbsCurrent_ = input.readInt32();
+
+                break;
+              } // case 128
+              case 136: {
+                maxPosCurrent_ = input.readInt32();
+
+                break;
+              } // case 136
+              case 144: {
+                minNegCurrent_ = input.readInt32();
+
+                break;
+              } // case 144
+              case 152: {
+                maxPosAccel_ = input.readInt32();
+
+                break;
+              } // case 152
+              case 160: {
+                minNegAccel_ = input.readInt32();
+
+                break;
+              } // case 160
+              case 168: {
+                maxPosVelocity_ = input.readInt32();
+
+                break;
+              } // case 168
+              case 176: {
+                minNegVelocity_ = input.readInt32();
+
+                break;
+              } // case 176
+              case 184: {
+                maxPosPosition_ = input.readInt32();
+
+                break;
+              } // case 184
+              case 192: {
+                minNegPosition_ = input.readInt32();
+
+                break;
+              } // case 192
+              case 200: {
+                motorTemp_ = input.readInt32();
+
+                break;
+              } // case 200
+              case 208: {
+                boardTemp_ = input.readInt32();
+
+                break;
+              } // case 208
+              case 216: {
+                currentKp_ = input.readInt32();
+
+                break;
+              } // case 216
+              case 224: {
+                currentKi_ = input.readInt32();
+
+                break;
+              } // case 224
+              case 232: {
+                currentKd_ = input.readInt32();
+
+                break;
+              } // case 232
+              case 240: {
+                motorType_ = input.readInt32();
+
+                break;
+              } // case 240
+              case 248: {
+                motorVersion_ = input.readInt32();
+
+                break;
+              } // case 248
+              case 256: {
+                softwareVersion_ = input.readInt32();
+
+                break;
+              } // case 256
+              case 264: {
+                positionOffset_ = input.readInt32();
+
+                break;
+              } // case 264
+              case 274: {
+                cspData_ = input.readBytes();
+
+                break;
+              } // case 274
+              case 280: {
+                encoderVoltage_ = input.readInt32();
+
+                break;
+              } // case 280
+              case 288: {
+                encoderState_ = input.readInt32();
+
+                break;
+              } // case 288
+              case 296: {
+                overvoltageLimit_ = input.readInt32();
+
+                break;
+              } // case 296
+              case 304: {
+                undervoltageLimit_ = input.readInt32();
+
+                break;
+              } // case 304
+              case 312: {
+                coilOverTemp_ = input.readInt32();
+
+                break;
+              } // case 312
+              case 320: {
+                driverOverTemp_ = input.readInt32();
+
+                break;
+              } // case 320
+              case 330: {
+                input.readMessage(
+                    getSdoResponseFieldBuilder().getBuilder(),
+                    extensionRegistry);
+
+                break;
+              } // case 330
+              case 336: {
+                nmtState_ = input.readEnum();
+
+                break;
+              } // case 336
+              case 344: {
+                ctrlWord_ = input.readUInt32();
+
+                break;
+              } // case 344
+              case 352: {
+                statusWord_ = input.readUInt32();
+
+                break;
+              } // case 352
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+
+      private int runMode_ = 0;
+      /**
+       * 
+       * 当前运行模式
+       * 

+       *
+       * .cmvr.msgs.RunMode run_mode = 1;
+       * @return The enum numeric value on the wire for runMode.
+       */
+      @java.lang.Override public int getRunModeValue() {
+        return runMode_;
+      }
+      /**
+       * 
+       * 当前运行模式
+       * 

+       *
+       * .cmvr.msgs.RunMode run_mode = 1;
+       * @param value The enum numeric value on the wire for runMode to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRunModeValue(int value) {
+        
+        runMode_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 当前运行模式
+       * 

+       *
+       * .cmvr.msgs.RunMode run_mode = 1;
+       * @return The runMode.
+       */
+      @java.lang.Override
+      public cmvr.msgs.Motor.RunMode getRunMode() {
+        @SuppressWarnings("deprecation")
+        cmvr.msgs.Motor.RunMode result = cmvr.msgs.Motor.RunMode.valueOf(runMode_);
+        return result == null ? cmvr.msgs.Motor.RunMode.UNRECOGNIZED : result;
+      }
+      /**
+       * 
+       * 当前运行模式
+       * 

+       *
+       * .cmvr.msgs.RunMode run_mode = 1;
+       * @param value The runMode to set.
+       * @return This builder for chaining.
+       */
+      public Builder setRunMode(cmvr.msgs.Motor.RunMode value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        
+        runMode_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 当前运行模式
+       * 

+       *
+       * .cmvr.msgs.RunMode run_mode = 1;
+       * @return This builder for chaining.
+       */
+      public Builder clearRunMode() {
+        
+        runMode_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int current_ ;
+      /**
+       * 
+       * 当前电流（单位：mA）
+       * 

+       *
+       * int32 current = 2;
+       * @return The current.
+       */
+      @java.lang.Override
+      public int getCurrent() {
+        return current_;
+      }
+      /**
+       * 
+       * 当前电流（单位：mA）
+       * 

+       *
+       * int32 current = 2;
+       * @param value The current to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrent(int value) {
+        
+        current_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 当前电流（单位：mA）
+       * 

+       *
+       * int32 current = 2;
+       * @return This builder for chaining.
+       */
+      public Builder clearCurrent() {
+        
+        current_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int targetCurrent_ ;
+      /**
+       * 
+       * 目标电流（单位：mA）
+       * 

+       *
+       * int32 target_current = 3;
+       * @return The targetCurrent.
+       */
+      @java.lang.Override
+      public int getTargetCurrent() {
+        return targetCurrent_;
+      }
+      /**
+       * 
+       * 目标电流（单位：mA）
+       * 

+       *
+       * int32 target_current = 3;
+       * @param value The targetCurrent to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTargetCurrent(int value) {
+        
+        targetCurrent_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 目标电流（单位：mA）
+       * 

+       *
+       * int32 target_current = 3;
+       * @return This builder for chaining.
+       */
+      public Builder clearTargetCurrent() {
+        
+        targetCurrent_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int speed_ ;
+      /**
+       * 
+       * 当前速度，转换为度每秒：(speed / 100 / 减速比) * 360
+       * 

+       *
+       * int32 speed = 4;
+       * @return The speed.
+       */
+      @java.lang.Override
+      public int getSpeed() {
+        return speed_;
+      }
+      /**
+       * 
+       * 当前速度，转换为度每秒：(speed / 100 / 减速比) * 360
+       * 

+       *
+       * int32 speed = 4;
+       * @param value The speed to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSpeed(int value) {
+        
+        speed_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 当前速度，转换为度每秒：(speed / 100 / 减速比) * 360
+       * 

+       *
+       * int32 speed = 4;
+       * @return This builder for chaining.
+       */
+      public Builder clearSpeed() {
+        
+        speed_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int targetSpeed_ ;
+      /**
+       * 
+       * 目标速度，单位同上
+       * 

+       *
+       * int32 target_speed = 5;
+       * @return The targetSpeed.
+       */
+      @java.lang.Override
+      public int getTargetSpeed() {
+        return targetSpeed_;
+      }
+      /**
+       * 
+       * 目标速度，单位同上
+       * 

+       *
+       * int32 target_speed = 5;
+       * @param value The targetSpeed to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTargetSpeed(int value) {
+        
+        targetSpeed_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 目标速度，单位同上
+       * 

+       *
+       * int32 target_speed = 5;
+       * @return This builder for chaining.
+       */
+      public Builder clearTargetSpeed() {
+        
+        targetSpeed_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int position_ ;
+      /**
+       * 
+       * 当前电机位置（位置转角度：(position / 65536 / 减速比) * 360）
+       * 

+       *
+       * int32 position = 6;
+       * @return The position.
+       */
+      @java.lang.Override
+      public int getPosition() {
+        return position_;
+      }
+      /**
+       * 
+       * 当前电机位置（位置转角度：(position / 65536 / 减速比) * 360）
+       * 

+       *
+       * int32 position = 6;
+       * @param value The position to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPosition(int value) {
+        
+        position_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 当前电机位置（位置转角度：(position / 65536 / 减速比) * 360）
+       * 

+       *
+       * int32 position = 6;
+       * @return This builder for chaining.
+       */
+      public Builder clearPosition() {
+        
+        position_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int targetPosition_ ;
+      /**
+       * 
+       * 目标位置（非位置模式无效）
+       * 

+       *
+       * int32 target_position = 7;
+       * @return The targetPosition.
+       */
+      @java.lang.Override
+      public int getTargetPosition() {
+        return targetPosition_;
+      }
+      /**
+       * 
+       * 目标位置（非位置模式无效）
+       * 

+       *
+       * int32 target_position = 7;
+       * @param value The targetPosition to set.
+       * @return This builder for chaining.
+       */
+      public Builder setTargetPosition(int value) {
+        
+        targetPosition_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 目标位置（非位置模式无效）
+       * 

+       *
+       * int32 target_position = 7;
+       * @return This builder for chaining.
+       */
+      public Builder clearTargetPosition() {
+        
+        targetPosition_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int errorState_ ;
+      /**
+       * 
+       * 错误状态位（见位说明）
+       * 

+       *
+       * uint32 error_state = 8;
+       * @return The errorState.
+       */
+      @java.lang.Override
+      public int getErrorState() {
+        return errorState_;
+      }
+      /**
+       * 
+       * 错误状态位（见位说明）
+       * 

+       *
+       * uint32 error_state = 8;
+       * @param value The errorState to set.
+       * @return This builder for chaining.
+       */
+      public Builder setErrorState(int value) {
+        
+        errorState_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 错误状态位（见位说明）
+       * 

+       *
+       * uint32 error_state = 8;
+       * @return This builder for chaining.
+       */
+      public Builder clearErrorState() {
+        
+        errorState_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int speedKp_ ;
+      /**
+       * 
+       * 速度环Kp，含模式和速度信息（bit复用）
+       * 

+       *
+       * int32 speed_kp = 9;
+       * @return The speedKp.
+       */
+      @java.lang.Override
+      public int getSpeedKp() {
+        return speedKp_;
+      }
+      /**
+       * 
+       * 速度环Kp，含模式和速度信息（bit复用）
+       * 

+       *
+       * int32 speed_kp = 9;
+       * @param value The speedKp to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSpeedKp(int value) {
+        
+        speedKp_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 速度环Kp，含模式和速度信息（bit复用）
+       * 

+       *
+       * int32 speed_kp = 9;
+       * @return This builder for chaining.
+       */
+      public Builder clearSpeedKp() {
+        
+        speedKp_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int speedKi_ ;
+      /**
+       * 
+       * 速度环Ki，含模式和速度信息（bit复用）
+       * 

+       *
+       * int32 speed_ki = 10;
+       * @return The speedKi.
+       */
+      @java.lang.Override
+      public int getSpeedKi() {
+        return speedKi_;
+      }
+      /**
+       * 
+       * 速度环Ki，含模式和速度信息（bit复用）
+       * 

+       *
+       * int32 speed_ki = 10;
+       * @param value The speedKi to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSpeedKi(int value) {
+        
+        speedKi_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 速度环Ki，含模式和速度信息（bit复用）
+       * 

+       *
+       * int32 speed_ki = 10;
+       * @return This builder for chaining.
+       */
+      public Builder clearSpeedKi() {
+        
+        speedKi_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int speedKd_ ;
+      /**
+       * 
+       * 速度环Kd
+       * 

+       *
+       * int32 speed_kd = 11;
+       * @return The speedKd.
+       */
+      @java.lang.Override
+      public int getSpeedKd() {
+        return speedKd_;
+      }
+      /**
+       * 
+       * 速度环Kd
+       * 

+       *
+       * int32 speed_kd = 11;
+       * @param value The speedKd to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSpeedKd(int value) {
+        
+        speedKd_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 速度环Kd
+       * 

+       *
+       * int32 speed_kd = 11;
+       * @return This builder for chaining.
+       */
+      public Builder clearSpeedKd() {
+        
+        speedKd_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int positionKp_ ;
+      /**
+       * 
+       * 位置环Kp
+       * 

+       *
+       * int32 position_kp = 12;
+       * @return The positionKp.
+       */
+      @java.lang.Override
+      public int getPositionKp() {
+        return positionKp_;
+      }
+      /**
+       * 
+       * 位置环Kp
+       * 

+       *
+       * int32 position_kp = 12;
+       * @param value The positionKp to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPositionKp(int value) {
+        
+        positionKp_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 位置环Kp
+       * 

+       *
+       * int32 position_kp = 12;
+       * @return This builder for chaining.
+       */
+      public Builder clearPositionKp() {
+        
+        positionKp_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int positionKi_ ;
+      /**
+       * 
+       * 位置环Ki
+       * 

+       *
+       * int32 position_ki = 13;
+       * @return The positionKi.
+       */
+      @java.lang.Override
+      public int getPositionKi() {
+        return positionKi_;
+      }
+      /**
+       * 
+       * 位置环Ki
+       * 

+       *
+       * int32 position_ki = 13;
+       * @param value The positionKi to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPositionKi(int value) {
+        
+        positionKi_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 位置环Ki
+       * 

+       *
+       * int32 position_ki = 13;
+       * @return This builder for chaining.
+       */
+      public Builder clearPositionKi() {
+        
+        positionKi_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int positionKd_ ;
+      /**
+       * 
+       * 位置环Kd
+       * 

+       *
+       * int32 position_kd = 14;
+       * @return The positionKd.
+       */
+      @java.lang.Override
+      public int getPositionKd() {
+        return positionKd_;
+      }
+      /**
+       * 
+       * 位置环Kd
+       * 

+       *
+       * int32 position_kd = 14;
+       * @param value The positionKd to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPositionKd(int value) {
+        
+        positionKd_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 位置环Kd
+       * 

+       *
+       * int32 position_kd = 14;
+       * @return This builder for chaining.
+       */
+      public Builder clearPositionKd() {
+        
+        positionKd_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int busVoltage_ ;
+      /**
+       * 
+       * 母线电压
+       * 

+       *
+       * int32 bus_voltage = 15;
+       * @return The busVoltage.
+       */
+      @java.lang.Override
+      public int getBusVoltage() {
+        return busVoltage_;
+      }
+      /**
+       * 
+       * 母线电压
+       * 

+       *
+       * int32 bus_voltage = 15;
+       * @param value The busVoltage to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBusVoltage(int value) {
+        
+        busVoltage_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 母线电压
+       * 

+       *
+       * int32 bus_voltage = 15;
+       * @return This builder for chaining.
+       */
+      public Builder clearBusVoltage() {
+        
+        busVoltage_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int maxAbsCurrent_ ;
+      /**
+       * 
+       * 最大电流绝对值（单位：mA）
+       * 

+       *
+       * int32 max_abs_current = 16;
+       * @return The maxAbsCurrent.
+       */
+      @java.lang.Override
+      public int getMaxAbsCurrent() {
+        return maxAbsCurrent_;
+      }
+      /**
+       * 
+       * 最大电流绝对值（单位：mA）
+       * 

+       *
+       * int32 max_abs_current = 16;
+       * @param value The maxAbsCurrent to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaxAbsCurrent(int value) {
+        
+        maxAbsCurrent_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 最大电流绝对值（单位：mA）
+       * 

+       *
+       * int32 max_abs_current = 16;
+       * @return This builder for chaining.
+       */
+      public Builder clearMaxAbsCurrent() {
+        
+        maxAbsCurrent_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int maxPosCurrent_ ;
+      /**
+       * 
+       * 最大正电流（单位：mA）
+       * 

+       *
+       * int32 max_pos_current = 17;
+       * @return The maxPosCurrent.
+       */
+      @java.lang.Override
+      public int getMaxPosCurrent() {
+        return maxPosCurrent_;
+      }
+      /**
+       * 
+       * 最大正电流（单位：mA）
+       * 

+       *
+       * int32 max_pos_current = 17;
+       * @param value The maxPosCurrent to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaxPosCurrent(int value) {
+        
+        maxPosCurrent_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 最大正电流（单位：mA）
+       * 

+       *
+       * int32 max_pos_current = 17;
+       * @return This builder for chaining.
+       */
+      public Builder clearMaxPosCurrent() {
+        
+        maxPosCurrent_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int minNegCurrent_ ;
+      /**
+       * 
+       * 最小负电流（单位：mA）
+       * 

+       *
+       * int32 min_neg_current = 18;
+       * @return The minNegCurrent.
+       */
+      @java.lang.Override
+      public int getMinNegCurrent() {
+        return minNegCurrent_;
+      }
+      /**
+       * 
+       * 最小负电流（单位：mA）
+       * 

+       *
+       * int32 min_neg_current = 18;
+       * @param value The minNegCurrent to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMinNegCurrent(int value) {
+        
+        minNegCurrent_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 最小负电流（单位：mA）
+       * 

+       *
+       * int32 min_neg_current = 18;
+       * @return This builder for chaining.
+       */
+      public Builder clearMinNegCurrent() {
+        
+        minNegCurrent_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int maxPosAccel_ ;
+      /**
+       * 
+       * 最大正向加速度
+       * 

+       *
+       * int32 max_pos_accel = 19;
+       * @return The maxPosAccel.
+       */
+      @java.lang.Override
+      public int getMaxPosAccel() {
+        return maxPosAccel_;
+      }
+      /**
+       * 
+       * 最大正向加速度
+       * 

+       *
+       * int32 max_pos_accel = 19;
+       * @param value The maxPosAccel to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaxPosAccel(int value) {
+        
+        maxPosAccel_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 最大正向加速度
+       * 

+       *
+       * int32 max_pos_accel = 19;
+       * @return This builder for chaining.
+       */
+      public Builder clearMaxPosAccel() {
+        
+        maxPosAccel_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int minNegAccel_ ;
+      /**
+       * 
+       * 最小负向加速度
+       * 

+       *
+       * int32 min_neg_accel = 20;
+       * @return The minNegAccel.
+       */
+      @java.lang.Override
+      public int getMinNegAccel() {
+        return minNegAccel_;
+      }
+      /**
+       * 
+       * 最小负向加速度
+       * 

+       *
+       * int32 min_neg_accel = 20;
+       * @param value The minNegAccel to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMinNegAccel(int value) {
+        
+        minNegAccel_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 最小负向加速度
+       * 

+       *
+       * int32 min_neg_accel = 20;
+       * @return This builder for chaining.
+       */
+      public Builder clearMinNegAccel() {
+        
+        minNegAccel_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int maxPosVelocity_ ;
+      /**
+       * 
+       * 最大正向速度（转化为度/秒）
+       * 

+       *
+       * int32 max_pos_velocity = 21;
+       * @return The maxPosVelocity.
+       */
+      @java.lang.Override
+      public int getMaxPosVelocity() {
+        return maxPosVelocity_;
+      }
+      /**
+       * 
+       * 最大正向速度（转化为度/秒）
+       * 

+       *
+       * int32 max_pos_velocity = 21;
+       * @param value The maxPosVelocity to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaxPosVelocity(int value) {
+        
+        maxPosVelocity_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 最大正向速度（转化为度/秒）
+       * 

+       *
+       * int32 max_pos_velocity = 21;
+       * @return This builder for chaining.
+       */
+      public Builder clearMaxPosVelocity() {
+        
+        maxPosVelocity_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int minNegVelocity_ ;
+      /**
+       * 
+       * 最小负向速度（转化为度/秒）
+       * 

+       *
+       * int32 min_neg_velocity = 22;
+       * @return The minNegVelocity.
+       */
+      @java.lang.Override
+      public int getMinNegVelocity() {
+        return minNegVelocity_;
+      }
+      /**
+       * 
+       * 最小负向速度（转化为度/秒）
+       * 

+       *
+       * int32 min_neg_velocity = 22;
+       * @param value The minNegVelocity to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMinNegVelocity(int value) {
+        
+        minNegVelocity_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 最小负向速度（转化为度/秒）
+       * 

+       *
+       * int32 min_neg_velocity = 22;
+       * @return This builder for chaining.
+       */
+      public Builder clearMinNegVelocity() {
+        
+        minNegVelocity_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int maxPosPosition_ ;
+      /**
+       * 
+       * 最大正向位置（角度）
+       * 

+       *
+       * int32 max_pos_position = 23;
+       * @return The maxPosPosition.
+       */
+      @java.lang.Override
+      public int getMaxPosPosition() {
+        return maxPosPosition_;
+      }
+      /**
+       * 
+       * 最大正向位置（角度）
+       * 

+       *
+       * int32 max_pos_position = 23;
+       * @param value The maxPosPosition to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMaxPosPosition(int value) {
+        
+        maxPosPosition_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 最大正向位置（角度）
+       * 

+       *
+       * int32 max_pos_position = 23;
+       * @return This builder for chaining.
+       */
+      public Builder clearMaxPosPosition() {
+        
+        maxPosPosition_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int minNegPosition_ ;
+      /**
+       * 
+       * 最小负向位置（角度）
+       * 

+       *
+       * int32 min_neg_position = 24;
+       * @return The minNegPosition.
+       */
+      @java.lang.Override
+      public int getMinNegPosition() {
+        return minNegPosition_;
+      }
+      /**
+       * 
+       * 最小负向位置（角度）
+       * 

+       *
+       * int32 min_neg_position = 24;
+       * @param value The minNegPosition to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMinNegPosition(int value) {
+        
+        minNegPosition_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 最小负向位置（角度）
+       * 

+       *
+       * int32 min_neg_position = 24;
+       * @return This builder for chaining.
+       */
+      public Builder clearMinNegPosition() {
+        
+        minNegPosition_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int motorTemp_ ;
+      /**
+       * 
+       * 电机温度（单位：摄氏度）
+       * 

+       *
+       * int32 motor_temp = 25;
+       * @return The motorTemp.
+       */
+      @java.lang.Override
+      public int getMotorTemp() {
+        return motorTemp_;
+      }
+      /**
+       * 
+       * 电机温度（单位：摄氏度）
+       * 

+       *
+       * int32 motor_temp = 25;
+       * @param value The motorTemp to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMotorTemp(int value) {
+        
+        motorTemp_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 电机温度（单位：摄氏度）
+       * 

+       *
+       * int32 motor_temp = 25;
+       * @return This builder for chaining.
+       */
+      public Builder clearMotorTemp() {
+        
+        motorTemp_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int boardTemp_ ;
+      /**
+       * 
+       * 电路板温度（单位：摄氏度）
+       * 

+       *
+       * int32 board_temp = 26;
+       * @return The boardTemp.
+       */
+      @java.lang.Override
+      public int getBoardTemp() {
+        return boardTemp_;
+      }
+      /**
+       * 
+       * 电路板温度（单位：摄氏度）
+       * 

+       *
+       * int32 board_temp = 26;
+       * @param value The boardTemp to set.
+       * @return This builder for chaining.
+       */
+      public Builder setBoardTemp(int value) {
+        
+        boardTemp_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 电路板温度（单位：摄氏度）
+       * 

+       *
+       * int32 board_temp = 26;
+       * @return This builder for chaining.
+       */
+      public Builder clearBoardTemp() {
+        
+        boardTemp_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int currentKp_ ;
+      /**
+       * 
+       * 电流P
+       * 

+       *
+       * int32 current_kp = 27;
+       * @return The currentKp.
+       */
+      @java.lang.Override
+      public int getCurrentKp() {
+        return currentKp_;
+      }
+      /**
+       * 
+       * 电流P
+       * 

+       *
+       * int32 current_kp = 27;
+       * @param value The currentKp to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrentKp(int value) {
+        
+        currentKp_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 电流P
+       * 

+       *
+       * int32 current_kp = 27;
+       * @return This builder for chaining.
+       */
+      public Builder clearCurrentKp() {
+        
+        currentKp_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int currentKi_ ;
+      /**
+       * 
+       * 电流I
+       * 

+       *
+       * int32 current_ki = 28;
+       * @return The currentKi.
+       */
+      @java.lang.Override
+      public int getCurrentKi() {
+        return currentKi_;
+      }
+      /**
+       * 
+       * 电流I
+       * 

+       *
+       * int32 current_ki = 28;
+       * @param value The currentKi to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrentKi(int value) {
+        
+        currentKi_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 电流I
+       * 

+       *
+       * int32 current_ki = 28;
+       * @return This builder for chaining.
+       */
+      public Builder clearCurrentKi() {
+        
+        currentKi_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int currentKd_ ;
+      /**
+       * 
+       * 电流D
+       * 

+       *
+       * int32 current_kd = 29;
+       * @return The currentKd.
+       */
+      @java.lang.Override
+      public int getCurrentKd() {
+        return currentKd_;
+      }
+      /**
+       * 
+       * 电流D
+       * 

+       *
+       * int32 current_kd = 29;
+       * @param value The currentKd to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCurrentKd(int value) {
+        
+        currentKd_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 电流D
+       * 

+       *
+       * int32 current_kd = 29;
+       * @return This builder for chaining.
+       */
+      public Builder clearCurrentKd() {
+        
+        currentKd_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int motorType_ ;
+      /**
+       * 
+       * 电机型号（复合字段，包含刹车、ACTUATOR_TYPE等）
+       * 

+       *
+       * int32 motor_type = 30;
+       * @return The motorType.
+       */
+      @java.lang.Override
+      public int getMotorType() {
+        return motorType_;
+      }
+      /**
+       * 
+       * 电机型号（复合字段，包含刹车、ACTUATOR_TYPE等）
+       * 

+       *
+       * int32 motor_type = 30;
+       * @param value The motorType to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMotorType(int value) {
+        
+        motorType_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 电机型号（复合字段，包含刹车、ACTUATOR_TYPE等）
+       * 

+       *
+       * int32 motor_type = 30;
+       * @return This builder for chaining.
+       */
+      public Builder clearMotorType() {
+        
+        motorType_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int motorVersion_ ;
+      /**
+       * 
+       * 电机版本号（软件+硬件，16进制格式）
+       * 

+       *
+       * int32 motor_version = 31;
+       * @return The motorVersion.
+       */
+      @java.lang.Override
+      public int getMotorVersion() {
+        return motorVersion_;
+      }
+      /**
+       * 
+       * 电机版本号（软件+硬件，16进制格式）
+       * 

+       *
+       * int32 motor_version = 31;
+       * @param value The motorVersion to set.
+       * @return This builder for chaining.
+       */
+      public Builder setMotorVersion(int value) {
+        
+        motorVersion_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 电机版本号（软件+硬件，16进制格式）
+       * 

+       *
+       * int32 motor_version = 31;
+       * @return This builder for chaining.
+       */
+      public Builder clearMotorVersion() {
+        
+        motorVersion_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int softwareVersion_ ;
+      /**
+       * 
+       * 软件版本号（16进制格式）
+       * 

+       *
+       * int32 software_version = 32;
+       * @return The softwareVersion.
+       */
+      @java.lang.Override
+      public int getSoftwareVersion() {
+        return softwareVersion_;
+      }
+      /**
+       * 
+       * 软件版本号（16进制格式）
+       * 

+       *
+       * int32 software_version = 32;
+       * @param value The softwareVersion to set.
+       * @return This builder for chaining.
+       */
+      public Builder setSoftwareVersion(int value) {
+        
+        softwareVersion_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 软件版本号（16进制格式）
+       * 

+       *
+       * int32 software_version = 32;
+       * @return This builder for chaining.
+       */
+      public Builder clearSoftwareVersion() {
+        
+        softwareVersion_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int positionOffset_ ;
+      /**
+       * 
+       * 当前位置偏移（编码器位置 - 偏移值）
+       * 

+       *
+       * int32 position_offset = 33;
+       * @return The positionOffset.
+       */
+      @java.lang.Override
+      public int getPositionOffset() {
+        return positionOffset_;
+      }
+      /**
+       * 
+       * 当前位置偏移（编码器位置 - 偏移值）
+       * 

+       *
+       * int32 position_offset = 33;
+       * @param value The positionOffset to set.
+       * @return This builder for chaining.
+       */
+      public Builder setPositionOffset(int value) {
+        
+        positionOffset_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 当前位置偏移（编码器位置 - 偏移值）
+       * 

+       *
+       * int32 position_offset = 33;
+       * @return This builder for chaining.
+       */
+      public Builder clearPositionOffset() {
+        
+        positionOffset_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private com.google.protobuf.ByteString cspData_ = com.google.protobuf.ByteString.EMPTY;
+      /**
+       * 
+       * 获取CSP，8字节数据
+       * 

+       *
+       * bytes csp_data = 34;
+       * @return The cspData.
+       */
+      @java.lang.Override
+      public com.google.protobuf.ByteString getCspData() {
+        return cspData_;
+      }
+      /**
+       * 
+       * 获取CSP，8字节数据
+       * 

+       *
+       * bytes csp_data = 34;
+       * @param value The cspData to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCspData(com.google.protobuf.ByteString value) {
+        if (value == null) {
+    throw new NullPointerException();
+  }
+  
+        cspData_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 获取CSP，8字节数据
+       * 

+       *
+       * bytes csp_data = 34;
+       * @return This builder for chaining.
+       */
+      public Builder clearCspData() {
+        
+        cspData_ = getDefaultInstance().getCspData();
+        onChanged();
+        return this;
+      }
+
+      private int encoderVoltage_ ;
+      /**
+       * 
+       * 编码器电池电压（新版硬件支持）
+       * 

+       *
+       * int32 encoder_voltage = 35;
+       * @return The encoderVoltage.
+       */
+      @java.lang.Override
+      public int getEncoderVoltage() {
+        return encoderVoltage_;
+      }
+      /**
+       * 
+       * 编码器电池电压（新版硬件支持）
+       * 

+       *
+       * int32 encoder_voltage = 35;
+       * @param value The encoderVoltage to set.
+       * @return This builder for chaining.
+       */
+      public Builder setEncoderVoltage(int value) {
+        
+        encoderVoltage_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 编码器电池电压（新版硬件支持）
+       * 

+       *
+       * int32 encoder_voltage = 35;
+       * @return This builder for chaining.
+       */
+      public Builder clearEncoderVoltage() {
+        
+        encoderVoltage_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int encoderState_ ;
+      /**
+       * 
+       * 编码器状态（双编码器=外圈位置，单编码器=状态）
+       * 

+       *
+       * int32 encoder_state = 36;
+       * @return The encoderState.
+       */
+      @java.lang.Override
+      public int getEncoderState() {
+        return encoderState_;
+      }
+      /**
+       * 
+       * 编码器状态（双编码器=外圈位置，单编码器=状态）
+       * 

+       *
+       * int32 encoder_state = 36;
+       * @param value The encoderState to set.
+       * @return This builder for chaining.
+       */
+      public Builder setEncoderState(int value) {
+        
+        encoderState_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 编码器状态（双编码器=外圈位置，单编码器=状态）
+       * 

+       *
+       * int32 encoder_state = 36;
+       * @return This builder for chaining.
+       */
+      public Builder clearEncoderState() {
+        
+        encoderState_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int overvoltageLimit_ ;
+      /**
+       * 
+       * 过压阈值（单位：V）
+       * 

+       *
+       * int32 overvoltage_limit = 37;
+       * @return The overvoltageLimit.
+       */
+      @java.lang.Override
+      public int getOvervoltageLimit() {
+        return overvoltageLimit_;
+      }
+      /**
+       * 
+       * 过压阈值（单位：V）
+       * 

+       *
+       * int32 overvoltage_limit = 37;
+       * @param value The overvoltageLimit to set.
+       * @return This builder for chaining.
+       */
+      public Builder setOvervoltageLimit(int value) {
+        
+        overvoltageLimit_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 过压阈值（单位：V）
+       * 

+       *
+       * int32 overvoltage_limit = 37;
+       * @return This builder for chaining.
+       */
+      public Builder clearOvervoltageLimit() {
+        
+        overvoltageLimit_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int undervoltageLimit_ ;
+      /**
+       * 
+       * 欠压阈值（单位：V）
+       * 

+       *
+       * int32 undervoltage_limit = 38;
+       * @return The undervoltageLimit.
+       */
+      @java.lang.Override
+      public int getUndervoltageLimit() {
+        return undervoltageLimit_;
+      }
+      /**
+       * 
+       * 欠压阈值（单位：V）
+       * 

+       *
+       * int32 undervoltage_limit = 38;
+       * @param value The undervoltageLimit to set.
+       * @return This builder for chaining.
+       */
+      public Builder setUndervoltageLimit(int value) {
+        
+        undervoltageLimit_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 欠压阈值（单位：V）
+       * 

+       *
+       * int32 undervoltage_limit = 38;
+       * @return This builder for chaining.
+       */
+      public Builder clearUndervoltageLimit() {
+        
+        undervoltageLimit_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int coilOverTemp_ ;
+      /**
+       * 
+       * 电机线圈过温阈值（单位：℃）
+       * 

+       *
+       * int32 coil_over_temp = 39;
+       * @return The coilOverTemp.
+       */
+      @java.lang.Override
+      public int getCoilOverTemp() {
+        return coilOverTemp_;
+      }
+      /**
+       * 
+       * 电机线圈过温阈值（单位：℃）
+       * 

+       *
+       * int32 coil_over_temp = 39;
+       * @param value The coilOverTemp to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCoilOverTemp(int value) {
+        
+        coilOverTemp_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 电机线圈过温阈值（单位：℃）
+       * 

+       *
+       * int32 coil_over_temp = 39;
+       * @return This builder for chaining.
+       */
+      public Builder clearCoilOverTemp() {
+        
+        coilOverTemp_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int driverOverTemp_ ;
+      /**
+       * 
+       * 驱动板过温阈值（单位：℃）
+       * 

+       *
+       * int32 driver_over_temp = 40;
+       * @return The driverOverTemp.
+       */
+      @java.lang.Override
+      public int getDriverOverTemp() {
+        return driverOverTemp_;
+      }
+      /**
+       * 
+       * 驱动板过温阈值（单位：℃）
+       * 

+       *
+       * int32 driver_over_temp = 40;
+       * @param value The driverOverTemp to set.
+       * @return This builder for chaining.
+       */
+      public Builder setDriverOverTemp(int value) {
+        
+        driverOverTemp_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 驱动板过温阈值（单位：℃）
+       * 

+       *
+       * int32 driver_over_temp = 40;
+       * @return This builder for chaining.
+       */
+      public Builder clearDriverOverTemp() {
+        
+        driverOverTemp_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private cmvr.msgs.Canopen.SdoFrame sdoResponse_;
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.msgs.Canopen.SdoFrame, cmvr.msgs.Canopen.SdoFrame.Builder, cmvr.msgs.Canopen.SdoFrameOrBuilder> sdoResponseBuilder_;
+      /**
+       * 
+       * ---------------------
+       * CANOPEN 特有的参数
+       * --------------------
+       * 

+       *
+       * .cmvr.msgs.SdoFrame sdo_response = 41;
+       * @return Whether the sdoResponse field is set.
+       */
+      public boolean hasSdoResponse() {
+        return sdoResponseBuilder_ != null || sdoResponse_ != null;
+      }
+      /**
+       * 
+       * ---------------------
+       * CANOPEN 特有的参数
+       * --------------------
+       * 

+       *
+       * .cmvr.msgs.SdoFrame sdo_response = 41;
+       * @return The sdoResponse.
+       */
+      public cmvr.msgs.Canopen.SdoFrame getSdoResponse() {
+        if (sdoResponseBuilder_ == null) {
+          return sdoResponse_ == null ? cmvr.msgs.Canopen.SdoFrame.getDefaultInstance() : sdoResponse_;
+        } else {
+          return sdoResponseBuilder_.getMessage();
+        }
+      }
+      /**
+       * 
+       * ---------------------
+       * CANOPEN 特有的参数
+       * --------------------
+       * 

+       *
+       * .cmvr.msgs.SdoFrame sdo_response = 41;
+       */
+      public Builder setSdoResponse(cmvr.msgs.Canopen.SdoFrame value) {
+        if (sdoResponseBuilder_ == null) {
+          if (value == null) {
+            throw new NullPointerException();
+          }
+          sdoResponse_ = value;
+          onChanged();
+        } else {
+          sdoResponseBuilder_.setMessage(value);
+        }
+
+        return this;
+      }
+      /**
+       * 
+       * ---------------------
+       * CANOPEN 特有的参数
+       * --------------------
+       * 

+       *
+       * .cmvr.msgs.SdoFrame sdo_response = 41;
+       */
+      public Builder setSdoResponse(
+          cmvr.msgs.Canopen.SdoFrame.Builder builderForValue) {
+        if (sdoResponseBuilder_ == null) {
+          sdoResponse_ = builderForValue.build();
+          onChanged();
+        } else {
+          sdoResponseBuilder_.setMessage(builderForValue.build());
+        }
+
+        return this;
+      }
+      /**
+       * 
+       * ---------------------
+       * CANOPEN 特有的参数
+       * --------------------
+       * 

+       *
+       * .cmvr.msgs.SdoFrame sdo_response = 41;
+       */
+      public Builder mergeSdoResponse(cmvr.msgs.Canopen.SdoFrame value) {
+        if (sdoResponseBuilder_ == null) {
+          if (sdoResponse_ != null) {
+            sdoResponse_ =
+              cmvr.msgs.Canopen.SdoFrame.newBuilder(sdoResponse_).mergeFrom(value).buildPartial();
+          } else {
+            sdoResponse_ = value;
+          }
+          onChanged();
+        } else {
+          sdoResponseBuilder_.mergeFrom(value);
+        }
+
+        return this;
+      }
+      /**
+       * 
+       * ---------------------
+       * CANOPEN 特有的参数
+       * --------------------
+       * 

+       *
+       * .cmvr.msgs.SdoFrame sdo_response = 41;
+       */
+      public Builder clearSdoResponse() {
+        if (sdoResponseBuilder_ == null) {
+          sdoResponse_ = null;
+          onChanged();
+        } else {
+          sdoResponse_ = null;
+          sdoResponseBuilder_ = null;
+        }
+
+        return this;
+      }
+      /**
+       * 
+       * ---------------------
+       * CANOPEN 特有的参数
+       * --------------------
+       * 

+       *
+       * .cmvr.msgs.SdoFrame sdo_response = 41;
+       */
+      public cmvr.msgs.Canopen.SdoFrame.Builder getSdoResponseBuilder() {
+        
+        onChanged();
+        return getSdoResponseFieldBuilder().getBuilder();
+      }
+      /**
+       * 
+       * ---------------------
+       * CANOPEN 特有的参数
+       * --------------------
+       * 

+       *
+       * .cmvr.msgs.SdoFrame sdo_response = 41;
+       */
+      public cmvr.msgs.Canopen.SdoFrameOrBuilder getSdoResponseOrBuilder() {
+        if (sdoResponseBuilder_ != null) {
+          return sdoResponseBuilder_.getMessageOrBuilder();
+        } else {
+          return sdoResponse_ == null ?
+              cmvr.msgs.Canopen.SdoFrame.getDefaultInstance() : sdoResponse_;
+        }
+      }
+      /**
+       * 
+       * ---------------------
+       * CANOPEN 特有的参数
+       * --------------------
+       * 

+       *
+       * .cmvr.msgs.SdoFrame sdo_response = 41;
+       */
+      private com.google.protobuf.SingleFieldBuilderV3<
+          cmvr.msgs.Canopen.SdoFrame, cmvr.msgs.Canopen.SdoFrame.Builder, cmvr.msgs.Canopen.SdoFrameOrBuilder> 
+          getSdoResponseFieldBuilder() {
+        if (sdoResponseBuilder_ == null) {
+          sdoResponseBuilder_ = new com.google.protobuf.SingleFieldBuilderV3<
+              cmvr.msgs.Canopen.SdoFrame, cmvr.msgs.Canopen.SdoFrame.Builder, cmvr.msgs.Canopen.SdoFrameOrBuilder>(
+                  getSdoResponse(),
+                  getParentForChildren(),
+                  isClean());
+          sdoResponse_ = null;
+        }
+        return sdoResponseBuilder_;
+      }
+
+      private int nmtState_ = 0;
+      /**
+       * .cmvr.msgs.NmtState nmt_state = 42;
+       * @return The enum numeric value on the wire for nmtState.
+       */
+      @java.lang.Override public int getNmtStateValue() {
+        return nmtState_;
+      }
+      /**
+       * .cmvr.msgs.NmtState nmt_state = 42;
+       * @param value The enum numeric value on the wire for nmtState to set.
+       * @return This builder for chaining.
+       */
+      public Builder setNmtStateValue(int value) {
+        
+        nmtState_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.msgs.NmtState nmt_state = 42;
+       * @return The nmtState.
+       */
+      @java.lang.Override
+      public cmvr.msgs.Canopen.NmtState getNmtState() {
+        @SuppressWarnings("deprecation")
+        cmvr.msgs.Canopen.NmtState result = cmvr.msgs.Canopen.NmtState.valueOf(nmtState_);
+        return result == null ? cmvr.msgs.Canopen.NmtState.UNRECOGNIZED : result;
+      }
+      /**
+       * .cmvr.msgs.NmtState nmt_state = 42;
+       * @param value The nmtState to set.
+       * @return This builder for chaining.
+       */
+      public Builder setNmtState(cmvr.msgs.Canopen.NmtState value) {
+        if (value == null) {
+          throw new NullPointerException();
+        }
+        
+        nmtState_ = value.getNumber();
+        onChanged();
+        return this;
+      }
+      /**
+       * .cmvr.msgs.NmtState nmt_state = 42;
+       * @return This builder for chaining.
+       */
+      public Builder clearNmtState() {
+        
+        nmtState_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int ctrlWord_ ;
+      /**
+       * 
+       * 只保留值，具体值在使用的时候使用联合体去解析
+       * 

+       *
+       * uint32 ctrl_word = 43;
+       * @return The ctrlWord.
+       */
+      @java.lang.Override
+      public int getCtrlWord() {
+        return ctrlWord_;
+      }
+      /**
+       * 
+       * 只保留值，具体值在使用的时候使用联合体去解析
+       * 

+       *
+       * uint32 ctrl_word = 43;
+       * @param value The ctrlWord to set.
+       * @return This builder for chaining.
+       */
+      public Builder setCtrlWord(int value) {
+        
+        ctrlWord_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * 
+       * 只保留值，具体值在使用的时候使用联合体去解析
+       * 

+       *
+       * uint32 ctrl_word = 43;
+       * @return This builder for chaining.
+       */
+      public Builder clearCtrlWord() {
+        
+        ctrlWord_ = 0;
+        onChanged();
+        return this;
+      }
+
+      private int statusWord_ ;
+      /**
+       * uint32 status_word = 44;
+       * @return The statusWord.
+       */
+      @java.lang.Override
+      public int getStatusWord() {
+        return statusWord_;
+      }
+      /**
+       * uint32 status_word = 44;
+       * @param value The statusWord to set.
+       * @return This builder for chaining.
+       */
+      public Builder setStatusWord(int value) {
+        
+        statusWord_ = value;
+        onChanged();
+        return this;
+      }
+      /**
+       * uint32 status_word = 44;
+       * @return This builder for chaining.
+       */
+      public Builder clearStatusWord() {
+        
+        statusWord_ = 0;
+        onChanged();
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.msgs.MotorStatus)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.msgs.MotorStatus)
+    private static final cmvr.msgs.Motor.MotorStatus DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.msgs.Motor.MotorStatus();
+    }
+
+    public static cmvr.msgs.Motor.MotorStatus getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public MotorStatus parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.msgs.Motor.MotorStatus getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_msgs_MotorStatus_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_msgs_MotorStatus_fieldAccessorTable;
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\025cmvr/msgs/motor.proto\022\tcmvr.msgs\032\027cmvr" +
+      "/msgs/canopen.proto\"\224\010\n\013MotorStatus\022$\n\010r" +
+      "un_mode\030\001 \001(\0162\022.cmvr.msgs.RunMode\022\017\n\007cur" +
+      "rent\030\002 \001(\005\022\026\n\016target_current\030\003 \001(\005\022\r\n\005sp" +
+      "eed\030\004 \001(\005\022\024\n\014target_speed\030\005 \001(\005\022\020\n\010posit" +
+      "ion\030\006 \001(\005\022\027\n\017target_position\030\007 \001(\005\022\023\n\013er" +
+      "ror_state\030\010 \001(\r\022\020\n\010speed_kp\030\t \001(\005\022\020\n\010spe" +
+      "ed_ki\030\n \001(\005\022\020\n\010speed_kd\030\013 \001(\005\022\023\n\013positio" +
+      "n_kp\030\014 \001(\005\022\023\n\013position_ki\030\r \001(\005\022\023\n\013posit" +
+      "ion_kd\030\016 \001(\005\022\023\n\013bus_voltage\030\017 \001(\005\022\027\n\017max" +
+      "_abs_current\030\020 \001(\005\022\027\n\017max_pos_current\030\021 " +
+      "\001(\005\022\027\n\017min_neg_current\030\022 \001(\005\022\025\n\rmax_pos_" +
+      "accel\030\023 \001(\005\022\025\n\rmin_neg_accel\030\024 \001(\005\022\030\n\020ma" +
+      "x_pos_velocity\030\025 \001(\005\022\030\n\020min_neg_velocity" +
+      "\030\026 \001(\005\022\030\n\020max_pos_position\030\027 \001(\005\022\030\n\020min_" +
+      "neg_position\030\030 \001(\005\022\022\n\nmotor_temp\030\031 \001(\005\022\022" +
+      "\n\nboard_temp\030\032 \001(\005\022\022\n\ncurrent_kp\030\033 \001(\005\022\022" +
+      "\n\ncurrent_ki\030\034 \001(\005\022\022\n\ncurrent_kd\030\035 \001(\005\022\022" +
+      "\n\nmotor_type\030\036 \001(\005\022\025\n\rmotor_version\030\037 \001(" +
+      "\005\022\030\n\020software_version\030  \001(\005\022\027\n\017position_" +
+      "offset\030! \001(\005\022\020\n\010csp_data\030\" \001(\014\022\027\n\017encode" +
+      "r_voltage\030# \001(\005\022\025\n\rencoder_state\030$ \001(\005\022\031" +
+      "\n\021overvoltage_limit\030% \001(\005\022\032\n\022undervoltag" +
+      "e_limit\030& \001(\005\022\026\n\016coil_over_temp\030\' \001(\005\022\030\n" +
+      "\020driver_over_temp\030( \001(\005\022)\n\014sdo_response\030" +
+      ") \001(\0132\023.cmvr.msgs.SdoFrame\022&\n\tnmt_state\030" +
+      "* \001(\0162\023.cmvr.msgs.NmtState\022\021\n\tctrl_word\030" +
+      "+ \001(\r\022\023\n\013status_word\030, \001(\r*\256\002\n\007RunMode\022\030" +
+      "\n\024RUN_MODE_UNSPECIFIED\020\000\022\035\n\031RUN_MODE_PRO" +
+      "FILE_POSITION\020\001\022\025\n\021RUN_MODE_VELOCITY\020\002\022\035" +
+      "\n\031RUN_MODE_PROFILE_VELOCITY\020\003\022\023\n\017RUN_MOD" +
+      "E_TORQUE\020\004\022\023\n\017RUN_MODE_HOMING\020\005\022\"\n\036RUN_M" +
+      "ODE_INTERPOLATED_POSITION\020\007\022!\n\035RUN_MODE_" +
+      "CYCLIC_SYNC_POSITION\020\010\022!\n\035RUN_MODE_CYCLI" +
+      "C_SYNC_VELOCITY\020\t\022 \n\034RUN_MODE_CYCLIC_SYN" +
+      "C_CURRENT\020\nb\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+          cmvr.msgs.Canopen.getDescriptor(),
+        });
+    internal_static_cmvr_msgs_MotorStatus_descriptor =
+      getDescriptor().getMessageTypes().get(0);
+    internal_static_cmvr_msgs_MotorStatus_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_msgs_MotorStatus_descriptor,
+        new java.lang.String[] { "RunMode", "Current", "TargetCurrent", "Speed", "TargetSpeed", "Position", "TargetPosition", "ErrorState", "SpeedKp", "SpeedKi", "SpeedKd", "PositionKp", "PositionKi", "PositionKd", "BusVoltage", "MaxAbsCurrent", "MaxPosCurrent", "MinNegCurrent", "MaxPosAccel", "MinNegAccel", "MaxPosVelocity", "MinNegVelocity", "MaxPosPosition", "MinNegPosition", "MotorTemp", "BoardTemp", "CurrentKp", "CurrentKi", "CurrentKd", "MotorType", "MotorVersion", "SoftwareVersion", "PositionOffset", "CspData", "EncoderVoltage", "EncoderState", "OvervoltageLimit", "UndervoltageLimit", "CoilOverTemp", "DriverOverTemp", "SdoResponse", "NmtState", "CtrlWord", "StatusWord", });
+    cmvr.msgs.Canopen.getDescriptor();
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/RobotDetailOuterClass.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/RobotDetailOuterClass.java
new file mode 100644
index 0000000..18fa7f3
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/msgs/RobotDetailOuterClass.java
@@ -0,0 +1,847 @@
+// Generated by the protocol buffer compiler.  DO NOT EDIT!
+// source: cmvr/msgs/robot_detail.proto
+
+package cmvr.msgs;
+
+public final class RobotDetailOuterClass {
+  private RobotDetailOuterClass() {}
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistryLite registry) {
+  }
+
+  public static void registerAllExtensions(
+      com.google.protobuf.ExtensionRegistry registry) {
+    registerAllExtensions(
+        (com.google.protobuf.ExtensionRegistryLite) registry);
+  }
+  public interface RobotDetailOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.msgs.RobotDetail)
+      com.google.protobuf.MessageOrBuilder {
+
+    /**
+     * 
+     * key 电机 nodeid
+     * 

+     *
+     * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+     */
+    int getMotorsCount();
+    /**
+     * 
+     * key 电机 nodeid
+     * 

+     *
+     * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+     */
+    boolean containsMotors(
+        int key);
+    /**
+     * Use {@link #getMotorsMap()} instead.
+     */
+    @java.lang.Deprecated
+    java.util.Map
+    getMotors();
+    /**
+     * 
+     * key 电机 nodeid
+     * 

+     *
+     * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+     */
+    java.util.Map
+    getMotorsMap();
+    /**
+     * 
+     * key 电机 nodeid
+     * 

+     *
+     * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+     */
+
+    /* nullable */
+cmvr.msgs.Motor.MotorStatus getMotorsOrDefault(
+        int key,
+        /* nullable */
+cmvr.msgs.Motor.MotorStatus defaultValue);
+    /**
+     * 
+     * key 电机 nodeid
+     * 

+     *
+     * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+     */
+
+    cmvr.msgs.Motor.MotorStatus getMotorsOrThrow(
+        int key);
+  }
+  /**
+   * Protobuf type {@code cmvr.msgs.RobotDetail}
+   */
+  public static final class RobotDetail extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.msgs.RobotDetail)
+      RobotDetailOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use RobotDetail.newBuilder() to construct.
+    private RobotDetail(com.google.protobuf.GeneratedMessageV3.Builder builder) {
+      super(builder);
+    }
+    private RobotDetail() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new RobotDetail();
+    }
+
+    @java.lang.Override
+    public final com.google.protobuf.UnknownFieldSet
+    getUnknownFields() {
+      return this.unknownFields;
+    }
+    public static final com.google.protobuf.Descriptors.Descriptor
+        getDescriptor() {
+      return cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_descriptor;
+    }
+
+    @SuppressWarnings({"rawtypes"})
+    @java.lang.Override
+    protected com.google.protobuf.MapField internalGetMapField(
+        int number) {
+      switch (number) {
+        case 1:
+          return internalGetMotors();
+        default:
+          throw new RuntimeException(
+              "Invalid map field number: " + number);
+      }
+    }
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.msgs.RobotDetailOuterClass.RobotDetail.class, cmvr.msgs.RobotDetailOuterClass.RobotDetail.Builder.class);
+    }
+
+    public static final int MOTORS_FIELD_NUMBER = 1;
+    private static final class MotorsDefaultEntryHolder {
+      static final com.google.protobuf.MapEntry<
+          java.lang.Integer, cmvr.msgs.Motor.MotorStatus> defaultEntry =
+              com.google.protobuf.MapEntry
+              .newDefaultInstance(
+                  cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_MotorsEntry_descriptor, 
+                  com.google.protobuf.WireFormat.FieldType.UINT32,
+                  0,
+                  com.google.protobuf.WireFormat.FieldType.MESSAGE,
+                  cmvr.msgs.Motor.MotorStatus.getDefaultInstance());
+    }
+    private com.google.protobuf.MapField<
+        java.lang.Integer, cmvr.msgs.Motor.MotorStatus> motors_;
+    private com.google.protobuf.MapField
+    internalGetMotors() {
+      if (motors_ == null) {
+        return com.google.protobuf.MapField.emptyMapField(
+            MotorsDefaultEntryHolder.defaultEntry);
+      }
+      return motors_;
+    }
+
+    public int getMotorsCount() {
+      return internalGetMotors().getMap().size();
+    }
+    /**
+     * 
+     * key 电机 nodeid
+     * 

+     *
+     * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+     */
+
+    @java.lang.Override
+    public boolean containsMotors(
+        int key) {
+      
+      return internalGetMotors().getMap().containsKey(key);
+    }
+    /**
+     * Use {@link #getMotorsMap()} instead.
+     */
+    @java.lang.Override
+    @java.lang.Deprecated
+    public java.util.Map getMotors() {
+      return getMotorsMap();
+    }
+    /**
+     * 
+     * key 电机 nodeid
+     * 

+     *
+     * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+     */
+    @java.lang.Override
+
+    public java.util.Map getMotorsMap() {
+      return internalGetMotors().getMap();
+    }
+    /**
+     * 
+     * key 电机 nodeid
+     * 

+     *
+     * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+     */
+    @java.lang.Override
+
+    public cmvr.msgs.Motor.MotorStatus getMotorsOrDefault(
+        int key,
+        cmvr.msgs.Motor.MotorStatus defaultValue) {
+      
+      java.util.Map map =
+          internalGetMotors().getMap();
+      return map.containsKey(key) ? map.get(key) : defaultValue;
+    }
+    /**
+     * 
+     * key 电机 nodeid
+     * 

+     *
+     * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+     */
+    @java.lang.Override
+
+    public cmvr.msgs.Motor.MotorStatus getMotorsOrThrow(
+        int key) {
+      
+      java.util.Map map =
+          internalGetMotors().getMap();
+      if (!map.containsKey(key)) {
+        throw new java.lang.IllegalArgumentException();
+      }
+      return map.get(key);
+    }
+
+    private byte memoizedIsInitialized = -1;
+    @java.lang.Override
+    public final boolean isInitialized() {
+      byte isInitialized = memoizedIsInitialized;
+      if (isInitialized == 1) return true;
+      if (isInitialized == 0) return false;
+
+      memoizedIsInitialized = 1;
+      return true;
+    }
+
+    @java.lang.Override
+    public void writeTo(com.google.protobuf.CodedOutputStream output)
+                        throws java.io.IOException {
+      com.google.protobuf.GeneratedMessageV3
+        .serializeIntegerMapTo(
+          output,
+          internalGetMotors(),
+          MotorsDefaultEntryHolder.defaultEntry,
+          1);
+      getUnknownFields().writeTo(output);
+    }
+
+    @java.lang.Override
+    public int getSerializedSize() {
+      int size = memoizedSize;
+      if (size != -1) return size;
+
+      size = 0;
+      for (java.util.Map.Entry entry
+           : internalGetMotors().getMap().entrySet()) {
+        com.google.protobuf.MapEntry
+        motors__ = MotorsDefaultEntryHolder.defaultEntry.newBuilderForType()
+            .setKey(entry.getKey())
+            .setValue(entry.getValue())
+            .build();
+        size += com.google.protobuf.CodedOutputStream
+            .computeMessageSize(1, motors__);
+      }
+      size += getUnknownFields().getSerializedSize();
+      memoizedSize = size;
+      return size;
+    }
+
+    @java.lang.Override
+    public boolean equals(final java.lang.Object obj) {
+      if (obj == this) {
+       return true;
+      }
+      if (!(obj instanceof cmvr.msgs.RobotDetailOuterClass.RobotDetail)) {
+        return super.equals(obj);
+      }
+      cmvr.msgs.RobotDetailOuterClass.RobotDetail other = (cmvr.msgs.RobotDetailOuterClass.RobotDetail) obj;
+
+      if (!internalGetMotors().equals(
+          other.internalGetMotors())) return false;
+      if (!getUnknownFields().equals(other.getUnknownFields())) return false;
+      return true;
+    }
+
+    @java.lang.Override
+    public int hashCode() {
+      if (memoizedHashCode != 0) {
+        return memoizedHashCode;
+      }
+      int hash = 41;
+      hash = (19 * hash) + getDescriptor().hashCode();
+      if (!internalGetMotors().getMap().isEmpty()) {
+        hash = (37 * hash) + MOTORS_FIELD_NUMBER;
+        hash = (53 * hash) + internalGetMotors().hashCode();
+      }
+      hash = (29 * hash) + getUnknownFields().hashCode();
+      memoizedHashCode = hash;
+      return hash;
+    }
+
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
+        java.nio.ByteBuffer data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
+        java.nio.ByteBuffer data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
+        com.google.protobuf.ByteString data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
+        com.google.protobuf.ByteString data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(byte[] data)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
+        byte[] data,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws com.google.protobuf.InvalidProtocolBufferException {
+      return PARSER.parseFrom(data, extensionRegistry);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseDelimitedFrom(java.io.InputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseDelimitedFrom(
+        java.io.InputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseDelimitedWithIOException(PARSER, input, extensionRegistry);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
+        com.google.protobuf.CodedInputStream input)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input);
+    }
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail parseFrom(
+        com.google.protobuf.CodedInputStream input,
+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+        throws java.io.IOException {
+      return com.google.protobuf.GeneratedMessageV3
+          .parseWithIOException(PARSER, input, extensionRegistry);
+    }
+
+    @java.lang.Override
+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
+      return DEFAULT_INSTANCE.toBuilder();
+    }
+    public static Builder newBuilder(cmvr.msgs.RobotDetailOuterClass.RobotDetail prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
+      return this == DEFAULT_INSTANCE
+          ? new Builder() : new Builder().mergeFrom(this);
+    }
+
+    @java.lang.Override
+    protected Builder newBuilderForType(
+        com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+      Builder builder = new Builder(parent);
+      return builder;
+    }
+    /**
+     * Protobuf type {@code cmvr.msgs.RobotDetail}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder implements
+        // @@protoc_insertion_point(builder_implements:cmvr.msgs.RobotDetail)
+        cmvr.msgs.RobotDetailOuterClass.RobotDetailOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_descriptor;
+      }
+
+      @SuppressWarnings({"rawtypes"})
+      protected com.google.protobuf.MapField internalGetMapField(
+          int number) {
+        switch (number) {
+          case 1:
+            return internalGetMotors();
+          default:
+            throw new RuntimeException(
+                "Invalid map field number: " + number);
+        }
+      }
+      @SuppressWarnings({"rawtypes"})
+      protected com.google.protobuf.MapField internalGetMutableMapField(
+          int number) {
+        switch (number) {
+          case 1:
+            return internalGetMutableMotors();
+          default:
+            throw new RuntimeException(
+                "Invalid map field number: " + number);
+        }
+      }
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.msgs.RobotDetailOuterClass.RobotDetail.class, cmvr.msgs.RobotDetailOuterClass.RobotDetail.Builder.class);
+      }
+
+      // Construct using cmvr.msgs.RobotDetailOuterClass.RobotDetail.newBuilder()
+      private Builder() {
+
+      }
+
+      private Builder(
+          com.google.protobuf.GeneratedMessageV3.BuilderParent parent) {
+        super(parent);
+
+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        internalGetMutableMotors().clear();
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.msgs.RobotDetailOuterClass.internal_static_cmvr_msgs_RobotDetail_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.RobotDetailOuterClass.RobotDetail getDefaultInstanceForType() {
+        return cmvr.msgs.RobotDetailOuterClass.RobotDetail.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.RobotDetailOuterClass.RobotDetail build() {
+        cmvr.msgs.RobotDetailOuterClass.RobotDetail result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.msgs.RobotDetailOuterClass.RobotDetail buildPartial() {
+        cmvr.msgs.RobotDetailOuterClass.RobotDetail result = new cmvr.msgs.RobotDetailOuterClass.RobotDetail(this);
+        int from_bitField0_ = bitField0_;
+        result.motors_ = internalGetMotors();
+        result.motors_.makeImmutable();
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
+      @java.lang.Override
+      public Builder setField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.setField(field, value);
+      }
+      @java.lang.Override
+      public Builder clearField(
+          com.google.protobuf.Descriptors.FieldDescriptor field) {
+        return super.clearField(field);
+      }
+      @java.lang.Override
+      public Builder clearOneof(
+          com.google.protobuf.Descriptors.OneofDescriptor oneof) {
+        return super.clearOneof(oneof);
+      }
+      @java.lang.Override
+      public Builder setRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          int index, java.lang.Object value) {
+        return super.setRepeatedField(field, index, value);
+      }
+      @java.lang.Override
+      public Builder addRepeatedField(
+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
+        return super.addRepeatedField(field, value);
+      }
+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.msgs.RobotDetailOuterClass.RobotDetail) {
+          return mergeFrom((cmvr.msgs.RobotDetailOuterClass.RobotDetail)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.msgs.RobotDetailOuterClass.RobotDetail other) {
+        if (other == cmvr.msgs.RobotDetailOuterClass.RobotDetail.getDefaultInstance()) return this;
+        internalGetMutableMotors().mergeFrom(
+            other.internalGetMotors());
+        this.mergeUnknownFields(other.getUnknownFields());
+        onChanged();
+        return this;
+      }
+
+      @java.lang.Override
+      public final boolean isInitialized() {
+        return true;
+      }
+
+      @java.lang.Override
+      public Builder mergeFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws java.io.IOException {
+        if (extensionRegistry == null) {
+          throw new java.lang.NullPointerException();
+        }
+        try {
+          boolean done = false;
+          while (!done) {
+            int tag = input.readTag();
+            switch (tag) {
+              case 0:
+                done = true;
+                break;
+              case 10: {
+                com.google.protobuf.MapEntry
+                motors__ = input.readMessage(
+                    MotorsDefaultEntryHolder.defaultEntry.getParserForType(), extensionRegistry);
+                internalGetMutableMotors().getMutableMap().put(
+                    motors__.getKey(), motors__.getValue());
+                break;
+              } // case 10
+              default: {
+                if (!super.parseUnknownField(input, extensionRegistry, tag)) {
+                  done = true; // was an endgroup tag
+                }
+                break;
+              } // default:
+            } // switch (tag)
+          } // while (!done)
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.unwrapIOException();
+        } finally {
+          onChanged();
+        } // finally
+        return this;
+      }
+      private int bitField0_;
+
+      private com.google.protobuf.MapField<
+          java.lang.Integer, cmvr.msgs.Motor.MotorStatus> motors_;
+      private com.google.protobuf.MapField
+      internalGetMotors() {
+        if (motors_ == null) {
+          return com.google.protobuf.MapField.emptyMapField(
+              MotorsDefaultEntryHolder.defaultEntry);
+        }
+        return motors_;
+      }
+      private com.google.protobuf.MapField
+      internalGetMutableMotors() {
+        onChanged();;
+        if (motors_ == null) {
+          motors_ = com.google.protobuf.MapField.newMapField(
+              MotorsDefaultEntryHolder.defaultEntry);
+        }
+        if (!motors_.isMutable()) {
+          motors_ = motors_.copy();
+        }
+        return motors_;
+      }
+
+      public int getMotorsCount() {
+        return internalGetMotors().getMap().size();
+      }
+      /**
+       * 
+       * key 电机 nodeid
+       * 

+       *
+       * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+       */
+
+      @java.lang.Override
+      public boolean containsMotors(
+          int key) {
+        
+        return internalGetMotors().getMap().containsKey(key);
+      }
+      /**
+       * Use {@link #getMotorsMap()} instead.
+       */
+      @java.lang.Override
+      @java.lang.Deprecated
+      public java.util.Map getMotors() {
+        return getMotorsMap();
+      }
+      /**
+       * 
+       * key 电机 nodeid
+       * 

+       *
+       * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+       */
+      @java.lang.Override
+
+      public java.util.Map getMotorsMap() {
+        return internalGetMotors().getMap();
+      }
+      /**
+       * 
+       * key 电机 nodeid
+       * 

+       *
+       * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+       */
+      @java.lang.Override
+
+      public cmvr.msgs.Motor.MotorStatus getMotorsOrDefault(
+          int key,
+          cmvr.msgs.Motor.MotorStatus defaultValue) {
+        
+        java.util.Map map =
+            internalGetMotors().getMap();
+        return map.containsKey(key) ? map.get(key) : defaultValue;
+      }
+      /**
+       * 
+       * key 电机 nodeid
+       * 

+       *
+       * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+       */
+      @java.lang.Override
+
+      public cmvr.msgs.Motor.MotorStatus getMotorsOrThrow(
+          int key) {
+        
+        java.util.Map map =
+            internalGetMotors().getMap();
+        if (!map.containsKey(key)) {
+          throw new java.lang.IllegalArgumentException();
+        }
+        return map.get(key);
+      }
+
+      public Builder clearMotors() {
+        internalGetMutableMotors().getMutableMap()
+            .clear();
+        return this;
+      }
+      /**
+       * 
+       * key 电机 nodeid
+       * 

+       *
+       * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+       */
+
+      public Builder removeMotors(
+          int key) {
+        
+        internalGetMutableMotors().getMutableMap()
+            .remove(key);
+        return this;
+      }
+      /**
+       * Use alternate mutation accessors instead.
+       */
+      @java.lang.Deprecated
+      public java.util.Map
+      getMutableMotors() {
+        return internalGetMutableMotors().getMutableMap();
+      }
+      /**
+       * 
+       * key 电机 nodeid
+       * 

+       *
+       * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+       */
+      public Builder putMotors(
+          int key,
+          cmvr.msgs.Motor.MotorStatus value) {
+        
+        if (value == null) {
+  throw new NullPointerException("map value");
+}
+
+        internalGetMutableMotors().getMutableMap()
+            .put(key, value);
+        return this;
+      }
+      /**
+       * 
+       * key 电机 nodeid
+       * 

+       *
+       * map<uint32, .cmvr.msgs.MotorStatus> motors = 1;
+       */
+
+      public Builder putAllMotors(
+          java.util.Map values) {
+        internalGetMutableMotors().getMutableMap()
+            .putAll(values);
+        return this;
+      }
+      @java.lang.Override
+      public final Builder setUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.setUnknownFields(unknownFields);
+      }
+
+      @java.lang.Override
+      public final Builder mergeUnknownFields(
+          final com.google.protobuf.UnknownFieldSet unknownFields) {
+        return super.mergeUnknownFields(unknownFields);
+      }
+
+
+      // @@protoc_insertion_point(builder_scope:cmvr.msgs.RobotDetail)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.msgs.RobotDetail)
+    private static final cmvr.msgs.RobotDetailOuterClass.RobotDetail DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.msgs.RobotDetailOuterClass.RobotDetail();
+    }
+
+    public static cmvr.msgs.RobotDetailOuterClass.RobotDetail getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser
+        PARSER = new com.google.protobuf.AbstractParser() {
+      @java.lang.Override
+      public RobotDetail parsePartialFrom(
+          com.google.protobuf.CodedInputStream input,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
+        } catch (com.google.protobuf.InvalidProtocolBufferException e) {
+          throw e.setUnfinishedMessage(builder.buildPartial());
+        } catch (com.google.protobuf.UninitializedMessageException e) {
+          throw e.asInvalidProtocolBufferException().setUnfinishedMessage(builder.buildPartial());
+        } catch (java.io.IOException e) {
+          throw new com.google.protobuf.InvalidProtocolBufferException(e)
+              .setUnfinishedMessage(builder.buildPartial());
+        }
+        return builder.buildPartial();
+      }
+    };
+
+    public static com.google.protobuf.Parser parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.msgs.RobotDetailOuterClass.RobotDetail getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_msgs_RobotDetail_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_msgs_RobotDetail_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_msgs_RobotDetail_MotorsEntry_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_msgs_RobotDetail_MotorsEntry_fieldAccessorTable;
+
+  public static com.google.protobuf.Descriptors.FileDescriptor
+      getDescriptor() {
+    return descriptor;
+  }
+  private static  com.google.protobuf.Descriptors.FileDescriptor
+      descriptor;
+  static {
+    java.lang.String[] descriptorData = {
+      "\n\034cmvr/msgs/robot_detail.proto\022\tcmvr.msg" +
+      "s\032\025cmvr/msgs/motor.proto\"\210\001\n\013RobotDetail" +
+      "\0222\n\006motors\030\001 \003(\0132\".cmvr.msgs.RobotDetail" +
+      ".MotorsEntry\032E\n\013MotorsEntry\022\013\n\003key\030\001 \001(\r" +
+      "\022%\n\005value\030\002 \001(\0132\026.cmvr.msgs.MotorStatus:" +
+      "\0028\001b\006proto3"
+    };
+    descriptor = com.google.protobuf.Descriptors.FileDescriptor
+      .internalBuildGeneratedFileFrom(descriptorData,
+        new com.google.protobuf.Descriptors.FileDescriptor[] {
+          cmvr.msgs.Motor.getDescriptor(),
+        });
+    internal_static_cmvr_msgs_RobotDetail_descriptor =
+      getDescriptor().getMessageTypes().get(0);
+    internal_static_cmvr_msgs_RobotDetail_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_msgs_RobotDetail_descriptor,
+        new java.lang.String[] { "Motors", });
+    internal_static_cmvr_msgs_RobotDetail_MotorsEntry_descriptor =
+      internal_static_cmvr_msgs_RobotDetail_descriptor.getNestedTypes().get(0);
+    internal_static_cmvr_msgs_RobotDetail_MotorsEntry_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_msgs_RobotDetail_MotorsEntry_descriptor,
+        new java.lang.String[] { "Key", "Value", });
+    cmvr.msgs.Motor.getDescriptor();
+  }
+
+  // @@protoc_insertion_point(outer_class_scope)
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_command.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_command.proto
index 267c88f..81c7676 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_command.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_command.proto
@@ -3,7 +3,7 @@ syntax = "proto3";
 package cmvr.api;
 
 import "cmvr/api/common.proto";
-import "cmvr/msgs/agv.proto";
+import "cmvr/api/agv_utils.proto";
 
 // 查询 AGV 运行状态命令。
 message AgvRuntimeStateCommand {
@@ -45,7 +45,7 @@ message AgvNavigateToPoseCommand {
     CommandHeader.Request header = 1;
     // 目标位姿。x/y 单位：米，theta 单位：弧度。
     cmvr.msgs.AgvPose2d pose = 2;
-    // 通用运动约束和执行选项。
+    // 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
     cmvr.msgs.AgvMotionOptions options = 3;
     // AGV 适配器扩展参数，用于传递厂商特有选项。
     cmvr.msgs.AgvAdapterParams adapter_params = 4;
@@ -65,7 +65,7 @@ message AgvNavigateToStationCommand {
     CommandHeader.Request header = 1;
     // 目标站点 id。
     string station_id = 2;
-    // 通用运动约束和执行选项。
+    // 通用运动约束和执行选项；默认同步阻塞至任务终态并确认停车。
     cmvr.msgs.AgvMotionOptions options = 3;
     // AGV 适配器扩展参数，用于传递厂商特有选项。
     cmvr.msgs.AgvAdapterParams adapter_params = 4;
@@ -85,6 +85,8 @@ message AgvFollowPathCommand {
     CommandHeader.Request header = 1;
     // 路径段列表。每段包含起点站点 id 和终点站点 id。
     repeated cmvr.msgs.AgvPathSegment path = 2;
+    // 通用执行选项；默认同步阻塞至整条路径终态并确认停车。
+    cmvr.msgs.AgvMotionOptions options = 3;
   }
   // 反馈体。
   message Feedback {
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/agv.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_utils.proto
similarity index 94%
rename from cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/agv.proto
rename to cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_utils.proto
index 54439ee..e3f697a 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/agv.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/agv_utils.proto
@@ -1,5 +1,7 @@
 syntax = "proto3";
 
+// 文件随 AGV API 定义统一放在 cmvr/api 下，但保留 cmvr.msgs package，
+// 以兼容既有生成代码、消息完整名称和 Any type URL。
 package cmvr.msgs;
 
 // AGV 在地图平面坐标系中的二维位姿。
@@ -52,8 +54,14 @@ message AgvMotionOptions {
   double reach_angle = 6;
   // 速度比例，范围通常为 [0, 1]；1 表示不降速。
   double speed_ratio = 7;
-  // 是否异步执行；true 表示下发任务后立即返回。
+  // 是否异步执行；false（默认）表示到达、失败、取消或遇障停止后才返回，
+  // true 表示任务被控制器接受后立即返回。
   bool asynchronous = 8;
+  // 同步导航的最大等待时间，单位：毫秒；0 表示使用适配器默认值。
+  // gRPC deadline 应大于该值或预计行程时间，否则服务端会安全取消导航。
+  int32 wait_timeout_ms = 9;
+  // 同步导航的状态轮询周期，单位：毫秒；0 表示使用适配器默认值。
+  int32 poll_interval_ms = 10;
 }
 
 // AGV 适配器扩展参数。用于传递厂商或控制器特有的参数。
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_teleop_v1.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_teleop_v1.proto
new file mode 100644
index 0000000..d7095a9
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/arm_teleop_v1.proto
@@ -0,0 +1,133 @@
+syntax = "proto3";
+
+package cmvr.api.armteleop.v1;
+
+// Versioned, session-oriented protocol for wired arm teleoperation. Existing
+// unary ArmService RPCs intentionally remain unchanged.
+service ArmTeleopService {
+  rpc Teleoperate(stream ClientFrame) returns (stream ServerFrame);
+}
+
+enum SessionPhase {
+  SESSION_PHASE_UNSPECIFIED = 0;
+  SESSION_PHASE_OPENED = 1;
+  SESSION_PHASE_READY = 2;
+  SESSION_PHASE_ACTIVE = 3;
+  SESSION_PHASE_HOLDING = 4;
+  SESSION_PHASE_STOPPED = 5;
+  SESSION_PHASE_WATCHDOG_EXPIRED = 6;
+  SESSION_PHASE_LEASE_LOST = 7;
+  SESSION_PHASE_REJECTED = 8;
+  SESSION_PHASE_FAILED = 9;
+}
+
+enum StopReason {
+  STOP_REASON_UNSPECIFIED = 0;
+  STOP_REASON_OPERATOR_REQUEST = 1;
+  STOP_REASON_CLIENT_SHUTDOWN = 2;
+  STOP_REASON_WATCHDOG = 3;
+  STOP_REASON_LEASE_REVOKED = 4;
+  STOP_REASON_ROBOT_FAULT = 5;
+  STOP_REASON_EMERGENCY_STOP = 6;
+  STOP_REASON_PROTOCOL_ERROR = 7;
+}
+
+enum EffortSource {
+  EFFORT_SOURCE_UNSPECIFIED = 0;
+  EFFORT_SOURCE_MOTOR_ESTIMATE = 1;
+  EFFORT_SOURCE_JOINT_SENSOR = 2;
+  EFFORT_SOURCE_FORCE_TORQUE_SENSOR = 3;
+  EFFORT_SOURCE_OBSERVER = 4;
+}
+
+message RobotManifest {
+  string robot_id = 1;
+  string model_sha256 = 2;
+  string calibration_sha256 = 3;
+  repeated string joint_names = 4;
+  string position_unit = 5;
+  string velocity_unit = 6;
+  string effort_unit = 7;
+  string base_frame = 8;
+  string tool_frame = 9;
+}
+
+message OpenSession {
+  uint32 protocol_major = 1;
+  uint32 protocol_minor = 2;
+  string client_instance_id = 3;
+  RobotManifest expected_robot = 4;
+  uint32 requested_command_rate_hz = 5;
+  uint32 requested_state_rate_hz = 6;
+  uint32 watchdog_timeout_ms = 7;
+  uint32 requested_lease_ms = 8;
+  bool request_force_feedback = 9;
+}
+
+message JointSetpoint {
+  // Strictly increasing and non-zero within a session.
+  uint64 sequence = 1;
+  repeated double position_rad = 2;
+  repeated double velocity_rad_s = 3;
+  // The receiver computes its deadline from local arrival time plus this
+  // duration. Zero is invalid for an active setpoint.
+  uint32 valid_for_us = 4;
+}
+
+message ClientHeartbeat {
+  uint64 sequence = 1;
+}
+
+message StopSession {
+  StopReason reason = 1;
+  string detail = 2;
+}
+
+message ClientFrame {
+  oneof payload {
+    OpenSession open = 1;
+    JointSetpoint setpoint = 2;
+    ClientHeartbeat heartbeat = 3;
+    StopSession stop = 4;
+  }
+}
+
+message JointState {
+  uint64 sample_sequence = 1;
+  repeated double position_rad = 2;
+  repeated double velocity_rad_s = 3;
+  repeated double effort_nm = 4;
+  bool position_valid = 5;
+  bool velocity_valid = 6;
+  bool effort_valid = 7;
+  EffortSource effort_source = 8;
+  uint64 sample_age_us = 9;
+}
+
+message SessionStatus {
+  string session_id = 1;
+  SessionPhase phase = 2;
+  uint64 received_sequence = 3;
+  uint64 applied_sequence = 4;
+  uint64 dropped_setpoints = 5;
+  uint64 rejected_setpoints = 6;
+  uint32 negotiated_watchdog_ms = 7;
+  uint32 lease_remaining_ms = 8;
+  StopReason stop_reason = 9;
+  string detail = 10;
+}
+
+message RobotSafetyState {
+  bool connected = 1;
+  bool powered_on = 2;
+  bool protective_stopped = 3;
+  bool emergency_stopped = 4;
+  bool fault = 5;
+  string fault_detail = 6;
+}
+
+message ServerFrame {
+  SessionStatus status = 1;
+  JointState joint_state = 2;
+  RobotSafetyState safety = 3;
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_command.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_command.proto
index a419b4e..cc91e3e 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_command.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_command.proto
@@ -128,16 +128,16 @@ message SetFacialExpression {
  * 用于连续发送多个面部表情，实现表情动画效果
  */
 message StreamFacialExpression {
-  message Request {
-    CommandHeader.Request header = 1;   // 通用命令头
-    FacialExpression expr =  2;         // 执行
-    bool eof = 3;                       // 标记是否为流结束
-  }
+    message Request {
+        CommandHeader.Request header = 1;   // 通用命令头
+        FacialExpression expr =  2;         // 执行
+        bool eof = 3;                       // 标记是否为流结束
+    }
 
-  message Feedback {
-    CommandHeader.Feedback header = 1;  // 通用反馈头
-    FacialExpression expr_diff = 2;     // 执行误差
-  }
+    message Feedback {
+        CommandHeader.Feedback header = 1;  // 通用反馈头
+        FacialExpression expr_diff = 2;     // 执行误差
+    }
 }
 
 /**
@@ -267,3 +267,4 @@ message ExpressionYawn {
 
 
 
+
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_service.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_service.proto
index e9cd7c2..f2dda32 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_service.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/biohead_service.proto
@@ -5,36 +5,43 @@ import "cmvr/api/biohead_command.proto";
 
 // 生物头部机器人服务接口
 service BioHeadService {
-  // 设置面部表情
-  rpc SetExpression(SetFacialExpression.Request) returns (SetFacialExpression.Feedback){};
+    // 设置面部表情
+    rpc SetExpression(SetFacialExpression.Request) returns (SetFacialExpression.Feedback){};
 
-  // 流式表情控制
-  //rpc StreamExpression(StreamFacialExpression.Request) returns (StreamFacialExpression.Feedback){};
+    // 流式表情控制
+    //rpc StreamExpression(StreamFacialExpression.Request) returns (StreamFacialExpression.Feedback){};
 
-  rpc StreamExpression (stream StreamFacialExpression.Request) returns (stream StreamFacialExpression.Feedback);
+    rpc StreamExpression (stream StreamFacialExpression.Request) returns (stream StreamFacialExpression.Feedback);
 
 
-  // 获取状态
-  rpc GetSystemStatus(GetStatus.Request) returns (GetStatus.Feedback){};
+    // 获取状态
+    rpc GetSystemStatus(GetStatus.Request) returns (GetStatus.Feedback){};
 
-  // 紧急停止
-  rpc EmergencyStop(EmergencyStop.Request) returns (EmergencyStop.Feedback){};
+    // 紧急停止
+    rpc EmergencyStop(EmergencyStop.Request) returns (EmergencyStop.Feedback){};
+
+    // 开始说话
+    rpc SpeakStart(SpeakStart.Request) returns (SpeakStart.Feedback){};
+    // 停止说话
+    rpc SpeakStop(SpeakStop.Request) returns (SpeakStop.Feedback){};
+
+    rpc Happy(Happy.Request) returns (Happy.Feedback){};
+
+    rpc Surprise(Surprise.Request) returns (Surprise.Feedback){};
+
+    rpc ExpressionTired(ExpressionTired.Request) returns (ExpressionTired.Feedback){};
+
+    rpc ExpressionAngry(ExpressionAngry.Request) returns (ExpressionAngry.Feedback){};
+
+    rpc ExpressionSadness(ExpressionSadness.Request) returns (ExpressionSadness.Feedback){};
+
+    rpc ExpressionYawn(ExpressionYawn.Request) returns (ExpressionYawn.Feedback){};
 
-  // 开始说话
-  rpc SpeakStart(SpeakStart.Request) returns (SpeakStart.Feedback){};
-  // 停止说话
-  rpc SpeakStop(SpeakStop.Request) returns (SpeakStop.Feedback){};
 
-  rpc Happy(Happy.Request) returns (Happy.Feedback){};
 
-  rpc Surprise(Surprise.Request) returns (Surprise.Feedback){};
 
-  rpc ExpressionTired(ExpressionTired.Request) returns (ExpressionTired.Feedback){};
 
-  rpc ExpressionAngry(ExpressionAngry.Request) returns (ExpressionAngry.Feedback){};
 
-  rpc ExpressionSadness(ExpressionSadness.Request) returns (ExpressionSadness.Feedback){};
 
-  rpc ExpressionYawn(ExpressionYawn.Request) returns (ExpressionYawn.Feedback){};
 
 }
\ No newline at end of file
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_command.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_command.proto
index 38ab01d..7305955 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_command.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_command.proto
@@ -19,9 +19,18 @@ message FrameData {
     FrameType type = 4;
     string codec = 5;
     bool is_key_frame = 6;
+    // Optional capture and source metadata. Fields 1-6 remain wire-compatible
+    // with existing clients; older clients safely ignore these additions.
+    int64 capture_utc_ns = 7;
+    uint64 source_sequence = 8;
+    int64 pts = 9;
+    int64 dts = 10;
+    uint32 source_fps = 11;
+    uint64 source_timestamp = 12;
+    uint64 source_frame_number = 13;
 }
 
-message Rs2Intrinsics {
+message CameraIntrinsics {
   float cx = 1;                           // 主点水平坐标（从左边缘的像素偏移）
   float cy = 2;                           // 主点垂直坐标（从上边缘的像素偏移）
   float fx = 3;                            // x方向焦距（像素宽度的倍数）
@@ -79,7 +88,7 @@ message GetRGBImageCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
-        Rs2Intrinsics intrinsics = 3;
+        CameraIntrinsics intrinsics = 3;
     }
 }
 
@@ -91,7 +100,7 @@ message GetDepthImageCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData depth_frame = 2;
-        Rs2Intrinsics intrinsics = 3;
+        CameraIntrinsics intrinsics = 3;
     }
 }
 
@@ -104,7 +113,7 @@ message GetRGBDImagesCommand {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
         FrameData depth_frame = 3;
-        Rs2Intrinsics intrinsics = 4;
+        CameraIntrinsics intrinsics = 4;
     }
 }
 
@@ -128,6 +137,39 @@ message StopCameraRecordingCommand {
     }
 }
 
+message ControlPtzCommand {
+    enum Command {
+        COMMAND_UNSPECIFIED = 0;
+        TILT_UP = 1;
+        TILT_DOWN = 2;
+        PAN_LEFT = 3;
+        PAN_RIGHT = 4;
+        UP_LEFT = 5;
+        UP_RIGHT = 6;
+        DOWN_LEFT = 7;
+        DOWN_RIGHT = 8;
+        ZOOM_IN = 9;
+        ZOOM_OUT = 10;
+        PAN_AUTO = 11;
+    }
+
+    enum Action {
+        START = 0;
+        STOP = 1;
+    }
+
+    message Request {
+        CommandHeader.Request header = 1;
+        Command command = 2;
+        Action action = 3;
+        uint32 speed = 4;
+    }
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+    }
+}
+
 message GetRGBImageStreamCommand {
     message Request {
         CommandHeader.Request header = 1;
@@ -137,7 +179,7 @@ message GetRGBImageStreamCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
-        Rs2Intrinsics intrinsics = 3;
+        CameraIntrinsics intrinsics = 3;
         int32 seq_no = 4;
     }
 }
@@ -151,7 +193,7 @@ message GetDepthImageStreamCommand {
     message Feedback {
         CommandHeader.Feedback header = 1;
         FrameData depth_frame = 2;
-        Rs2Intrinsics intrinsics = 3;
+        CameraIntrinsics intrinsics = 3;
         int32 seq_no = 4;
     }
 }
@@ -166,10 +208,9 @@ message GetRGBDImagesStreamCommand {
         CommandHeader.Feedback header = 1;
         FrameData color_frame = 2;
         FrameData depth_frame = 3;
-        Rs2Intrinsics intrinsics = 4;
+        CameraIntrinsics intrinsics = 4;
         int32 seq_no = 5;
     }
 }
 
 
-
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_service.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_service.proto
index cb9b2ac..9ab7d7f 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_service.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/camera_service.proto
@@ -14,8 +14,9 @@ service CameraService {
     rpc GetRGBDImages(GetRGBDImagesCommand.Request) returns (GetRGBDImagesCommand.Feedback) {}
     rpc StartRecording(StartCameraRecordingCommand.Request) returns (StartCameraRecordingCommand.Feedback) {}
     rpc StopRecording(StopCameraRecordingCommand.Request) returns (StopCameraRecordingCommand.Feedback) {}
+    rpc ControlPtz(ControlPtzCommand.Request) returns (ControlPtzCommand.Feedback) {}
 
     rpc GetRGBImageStream(stream GetRGBImageStreamCommand.Request) returns (stream GetRGBImageStreamCommand.Feedback) {}
     rpc GetDepthImageStream(stream GetDepthImageStreamCommand.Request) returns (stream GetDepthImageStreamCommand.Feedback) {}
     rpc GetRGBDImagesStream(stream GetRGBDImagesStreamCommand.Request) returns (stream GetRGBDImagesStreamCommand.Feedback) {}
-}
\ No newline at end of file
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/common.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/common.proto
index 53ecd55..5686a18 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/common.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/common.proto
@@ -35,6 +35,7 @@ message AudioData {
         MP3 = 1;
         AAC = 2;
         WAV = 3;
+        OPUS = 4;
     }
     bytes data = 1;
     int32 sample_rate = 2;
@@ -57,3 +58,15 @@ message ConfigParam {
         bytes bytes_value = 6;   // 二进制数据类型
     }
 }
+
+message JsonDeviceCommand {
+    message Request {
+        CommandHeader.Request header = 1;
+        string request_json = 2;
+    }
+
+    message Feedback {
+        CommandHeader.Feedback header = 1;
+        string response_json = 2;
+    }
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/dexhand_command.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/dexhand_command.proto
index 5e89c97..9d65a7f 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/dexhand_command.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/dexhand_command.proto
@@ -9,7 +9,7 @@ message FreedomValue {
     float value = 2;              // 值 0-1百分比
 }
 
-message RH56DFTPDexHand {
+message FreedomState {
     int32 dof_id = 1;             // 自由度ID，唯一标识不同的关节或自由度
     int32 angle = 2;              // 自由度角度
     int32 speed = 3;              // 自由度速度
@@ -57,7 +57,7 @@ message SensorData {
 
 message DexHandState {
     bool is_initialized = 1;      // 是否初始化
-    repeated RH56DFTPDexHand hands = 2;  // 包含多个自由度状态
+    repeated FreedomState hands = 2;  // 包含多个自由度状态
 }
 
 message GetDexHandStateCommand {
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/geometry.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/geometry.proto
deleted file mode 100644
index a7ab001..0000000
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/geometry.proto
+++ /dev/null
@@ -1,67 +0,0 @@
-syntax = "proto3";
-
-package cmvr.api;
-
-
-message Vec2 {
-    double x = 1;
-    double y = 2;
-}
-
-message Vec3 {
-    double x = 1;
-    double y = 2;
-    double z = 3;
-}
-
-message SE2Pose {
-    Vec2 position = 1;    // (m)
-    double angle = 2;     // (rad)
-}
-
-message SE2Velocity {
-    Vec2 linear = 1;    // (m/s)
-    double angular = 2; // (rad/s)
-}
-
-message Quaternion {
-    double x = 1;
-    double y = 2;
-    double z = 3;
-    double w = 4;
-}
-
-message EulerAngleZYX {
-    double z = 1;
-    double y = 2;
-    double x = 3;
-}
-
-message SE3Pose {
-    Vec3 position = 1; // (m)
-    oneof rotation {
-        Quaternion quaternion = 2;
-        EulerAngleZYX euler = 3;
-    }
-}
-
-message Inertial {
-    // Mass (kg)
-    double mass = 1;
-
-    // Center of mass (m)
-    Vec3 center_of_mass = 2;
-
-    // Inertia tensor
-    Inertia inertia = 3;
-}
-
-// Inertia tensor components (kg*m^2)
-message Inertia {
-    double ixx = 1;
-    double iyy = 2;
-    double izz = 3;
-    double ixy = 4;
-    double ixz = 5;
-    double iyz = 6;
-}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/motor_command.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/motor_command.proto
new file mode 100644
index 0000000..a02657d
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/motor_command.proto
@@ -0,0 +1,151 @@
+syntax = "proto3";
+
+package cmvr.api;
+
+import "cmvr/api/common.proto";
+import "cmvr/msgs/motor.proto";
+
+// Selects exactly one motor inside the MotorManager named by header.device_id.
+message MotorTarget {
+  CommandHeader.Request header = 1;
+  oneof selector {
+    uint32 motor_id = 2;
+    string joint_name = 3;
+  }
+}
+
+message MotorWaitOptions {
+  // Zero selects the server default (30 seconds).
+  uint32 timeout_ms = 1;
+  // Zero selects the server default (10 milliseconds).
+  uint32 poll_period_ms = 2;
+  // Zero selects the server default.
+  double position_tolerance_rad = 3;
+  double velocity_tolerance_rad_s = 4;
+  // Number of consecutive in-tolerance samples. Zero selects the default (3).
+  uint32 settle_sample_count = 5;
+}
+
+enum MotorControlType {
+  MOTOR_CONTROL_NONE = 0;
+  MOTOR_CONTROL_SET_ZERO = 1;
+  MOTOR_CONTROL_PROFILE_POSITION = 2;
+  MOTOR_CONTROL_PROFILE_VELOCITY = 3;
+  MOTOR_CONTROL_CYCLIC_POSITION = 4;
+  MOTOR_CONTROL_CYCLIC_VELOCITY = 5;
+  MOTOR_CONTROL_SET_ENABLED = 6;
+}
+
+message MotorStatus {
+  uint32 motor_id = 1;
+  string joint_name = 2;
+  cmvr.msgs.RunMode run_mode = 3;
+  double position_rad = 4;
+  double velocity_rad_s = 5;
+  bool target_reached = 6;
+  bool service_busy = 7;
+  MotorControlType active_control = 8;
+  bool emergency_stopped = 9;
+  string last_error = 10;
+}
+
+message MotorCommandResponse {
+  CommandHeader.Feedback header = 1;
+  MotorStatus status = 2;
+  uint64 elapsed_ms = 3;
+}
+
+message SetMotorZeroRequest {
+  MotorTarget target = 1;
+}
+
+message MoveMotorToZeroRequest {
+  MotorTarget target = 1;
+  double max_velocity_rad_s = 2;
+  double acceleration_rad_s2 = 3;
+  MotorWaitOptions wait = 4;
+}
+
+message ProfilePositionRequest {
+  MotorTarget target = 1;
+  double target_position_rad = 2;
+  double max_velocity_rad_s = 3;
+  double acceleration_rad_s2 = 4;
+  MotorWaitOptions wait = 5;
+}
+
+message ProfileVelocityRequest {
+  MotorTarget target = 1;
+  double target_velocity_rad_s = 2;
+  double acceleration_rad_s2 = 3;
+  MotorWaitOptions wait = 4;
+}
+
+message EmergencyStopRequest {
+  MotorTarget target = 1;
+}
+
+message GetMotorStatusRequest {
+  MotorTarget target = 1;
+}
+
+message GetMotorStatusResponse {
+  CommandHeader.Feedback header = 1;
+  MotorStatus status = 2;
+}
+
+message SetMotorEnabledRequest {
+  MotorTarget target = 1;
+  bool enabled = 2;
+}
+
+message CyclicStreamOpen {
+  MotorTarget target = 1;
+  // The PLC/driver watchdog is authoritative. This service watchdog prevents a
+  // stalled gRPC client from retaining control indefinitely.
+  uint32 watchdog_timeout_ms = 2;
+}
+
+message CyclicPositionSetpoint {
+  uint64 sequence = 1;
+  double target_position_rad = 2;
+  optional double target_velocity_rad_s = 3;
+}
+
+message CyclicVelocitySetpoint {
+  uint64 sequence = 1;
+  double target_velocity_rad_s = 2;
+}
+
+message CyclicPositionRequest {
+  oneof payload {
+    CyclicStreamOpen open = 1;
+    CyclicPositionSetpoint setpoint = 2;
+  }
+}
+
+message CyclicVelocityRequest {
+  oneof payload {
+    CyclicStreamOpen open = 1;
+    CyclicVelocitySetpoint setpoint = 2;
+  }
+}
+
+enum CyclicStreamPhase {
+  CYCLIC_STREAM_PHASE_UNSPECIFIED = 0;
+  CYCLIC_STREAM_OPENED = 1;
+  CYCLIC_STREAM_APPLIED = 2;
+  CYCLIC_STREAM_STOPPED = 3;
+  CYCLIC_STREAM_WATCHDOG_EXPIRED = 4;
+  CYCLIC_STREAM_FAILED = 5;
+}
+
+message CyclicControlResponse {
+  CommandHeader.Feedback header = 1;
+  CyclicStreamPhase phase = 2;
+  uint64 sequence = 3;
+  uint64 dropped_setpoints = 4;
+  // Present for OPENED and terminal responses. APPLIED deliberately omits
+  // live status so one cyclic sample does not trigger extra fieldbus reads.
+  MotorStatus status = 5;
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/motor_service.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/motor_service.proto
new file mode 100644
index 0000000..01f127f
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/motor_service.proto
@@ -0,0 +1,21 @@
+syntax = "proto3";
+
+package cmvr.api;
+
+import "cmvr/api/motor_command.proto";
+
+service MotorService {
+  rpc setZero(SetMotorZeroRequest) returns (MotorCommandResponse);
+  rpc moveToZero(MoveMotorToZeroRequest) returns (MotorCommandResponse);
+  rpc profilePosition(ProfilePositionRequest) returns (MotorCommandResponse);
+  rpc profileVelocity(ProfileVelocityRequest) returns (MotorCommandResponse);
+
+  rpc streamCyclicPosition(stream CyclicPositionRequest)
+      returns (stream CyclicControlResponse);
+  rpc streamCyclicVelocity(stream CyclicVelocityRequest)
+      returns (stream CyclicControlResponse);
+
+  rpc emergencyStop(EmergencyStopRequest) returns (MotorCommandResponse);
+  rpc getStatus(GetMotorStatusRequest) returns (GetMotorStatusResponse);
+  rpc setEnabled(SetMotorEnabledRequest) returns (MotorCommandResponse);
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/system_service.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/system_service.proto
index d60d4b0..84d1c9b 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/system_service.proto
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/api/system_service.proto
@@ -1,5 +1,6 @@
 syntax = "proto3";
 
+import "cmvr/api/common.proto";
 import "cmvr/api/system_command.proto";
 
 package cmvr.api;
@@ -10,6 +11,7 @@ service SystemService {
     rpc GetSystemStatus(GetSystemStatusCommand.Request) returns (GetSystemStatusCommand.Feedback) {}
 
     rpc UpdateParams(UpdateParamsCommand.Request) returns (UpdateParamsCommand.Feedback) {}
+    rpc ExecuteJsonCommand(JsonDeviceCommand.Request) returns (JsonDeviceCommand.Feedback) {}
 
     rpc StopAll(StopAllCommand.Request) returns (StopAllCommand.Feedback) {}
 }
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/common/geometry.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/common/geometry.proto
new file mode 100644
index 0000000..729596f
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/common/geometry.proto
@@ -0,0 +1,79 @@
+syntax = "proto3";
+
+package cmvr.common;
+
+message Vec2 {
+  optional double x = 1;
+  optional double y = 2;
+}
+
+message Vec3 {
+  optional double x = 1;
+  optional double y = 2;
+  optional double z = 3;
+}
+
+message Vec6 {
+  optional double x = 1;
+  optional double y = 2;
+  optional double z = 3;
+  optional double rx = 4;
+  optional double ry = 5;
+  optional double rz = 6;
+}
+
+message Quat {
+  optional double w = 1;
+  optional double x = 2;
+  optional double y = 3;
+  optional double z = 4;
+}
+
+message Euler {
+  optional double rx = 1;
+  optional double ry = 2;
+  optional double rz = 3;
+}
+
+message Pose3d {
+  Vec3 position = 1;
+  Quat quaternion = 2;
+  Euler euler = 3;
+}
+
+message Pose2d {
+  optional double x = 1;
+  optional double y = 2;
+  optional double theta = 3;
+}
+
+message Mat3 {
+  optional double m00 = 1;
+  optional double m01 = 2;
+  optional double m02 = 3;
+  optional double m10 = 4;
+  optional double m11 = 5;
+  optional double m12 = 6;
+  optional double m20 = 7;
+  optional double m21 = 8;
+  optional double m22 = 9;
+}
+
+message Mat4 {
+  optional double m00 = 1;
+  optional double m01 = 2;
+  optional double m02 = 3;
+  optional double m03 = 4;
+  optional double m10 = 5;
+  optional double m11 = 6;
+  optional double m12 = 7;
+  optional double m13 = 8;
+  optional double m20 = 9;
+  optional double m21 = 10;
+  optional double m22 = 11;
+  optional double m23 = 12;
+  optional double m30 = 13;
+  optional double m31 = 14;
+  optional double m32 = 15;
+  optional double m33 = 16;
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/can_card_parameter.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/can_card_parameter.proto
new file mode 100644
index 0000000..5237042
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/can_card_parameter.proto
@@ -0,0 +1,55 @@
+syntax = "proto3";
+
+package cmvr.msgs;
+
+message CANCardParameter {
+  enum CANCardBrand {
+    FAKE_CAN = 0;
+    ESD_CAN = 1;
+    SOCKET_CAN_RAW = 2;
+    HERMES_CAN = 3;
+  }
+
+  enum CANCardType {
+    PCI_CARD = 0;
+    USB_CARD = 1;
+  }
+
+  enum CANChannelId {
+    CHANNEL_ID_ZERO = 0;
+    CHANNEL_ID_ONE = 1;
+    CHANNEL_ID_TWO = 2;
+    CHANNEL_ID_THREE = 3;
+    CHANNEL_ID_FOUR = 4;
+    CHANNEL_ID_FIVE = 5;
+    CHANNEL_ID_SIX = 6;
+    CHANNEL_ID_SEVEN = 7;
+  }
+
+  enum CANInterface {
+    NATIVE = 0;
+    VIRTUAL = 1;
+    SLCAN = 2;
+  }
+
+  enum BAUDRATE {
+    BCAN_BAUDRATE_1M = 0;
+    BCAN_BAUDRATE_500K = 1;
+    BCAN_BAUDRATE_250K = 2;
+    BCAN_BAUDRATE_150K = 3;
+    BCAN_BAUDRATE_NUM = 4;
+  }
+
+  // CAN卡驱动类型配置 | 根据所用的CAN卡硬件型号或驱动类型配置
+  optional CANCardBrand brand = 1;
+  // CAN卡硬件接口类型配置 | 根据所用的CAN卡硬件接口类型或驱动类型配置
+  optional CANCardType type = 2;
+  // CAN卡端口号配置 | 根据所连接的CAN卡端口号配置
+  optional CANChannelId channel_id = 3;
+  // CAN卡软件接口配置
+  optional CANInterface interface = 4;
+  // CAN卡端口数量配置
+  optional uint32 num_ports = 5;
+  // CAN卡波特率配置
+  optional BAUDRATE baudrate = 6;
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/canopen.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/canopen.proto
new file mode 100644
index 0000000..14ab327
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/canopen.proto
@@ -0,0 +1,157 @@
+syntax = "proto3";
+
+package cmvr.msgs;
+
+message SdoFrame {
+  uint32 node_id = 1;            // 节点ID
+  CommandSpecifier cs = 2;  // SDO命令字
+  uint32 index = 3;              // 对象字典索引
+  uint32 sub_index = 4;          // 子索引
+  uint32 data = 5;                // 数据区
+}
+
+enum PdoBaseId{
+
+  PDO_BASE_ID_UNSPECIFIED = 0;
+
+  RPDO1_BASE_ID_200 = 0x200;
+  RPDO2_BASE_ID_300 = 0x300;
+  RPDO3_BASE_ID_400 = 0x400;
+  RPDO4_BASE_ID_500 = 0x500;
+
+
+  TPDO1_BASE_ID_180 = 0x180;
+  TPDO2_BASE_ID_280 = 0x280;
+  TPDO3_BASE_ID_380 = 0x380;
+  TPDO4_BASE_ID_480 = 0x480;
+}
+
+// PDO 传输类型
+enum TransmissionType {
+
+  // 同步传输
+  SYNC_EVENT_DRIVEN = 0x00;   // 非循环同步
+  SYNC_CYCLIC = 0x01;         // 循环同步
+
+  // 远程请求触发
+  REMOTE_SYNC = 0xFC;         // 远程同步
+  REMOTE_ASYNC = 0xFD;        // 远程异步
+
+  // 异步传输
+  ASYNC_MANUFACTURER_SPECIFIC = 0xFE; // 异步，制造商特定事件
+  ASYNC_DEVICE_SPECIFIC = 0xFF;       // 异步，设备子协议特定事件
+}
+
+
+
+enum CommandSpecifier {
+  CS_NO = 0;                          // 默认无效
+  CS_WRITE_ONE_BYTE = 0x2F;          // 写 1 字节
+  CS_WRITE_TWO_BYTES = 0x2B;         // 写 2 字节
+  CS_WRITE_THREE_BYTES = 0x27;       // 写 3 字节
+  CS_WRITE_FOUR_BYTES = 0x23;        // 写 4 字节
+  CS_WRITE_SUCCESS_RESPONSE = 0x60;  // 写成功响应
+
+  CS_READ_REQUEST = 0x40;                    // 发起读取请求
+  CS_READ_RESPONSE_ONE_BYTE = 0x4F; // 响应 1 字节
+  CS_READ_RESPONSE_TWO_BYTES = 0x4B;// 响应 2 字节
+  CS_READ_RESPONSE_THREE_BYTES = 0x47;
+  CS_READ_RESPONSE_FOUR_BYTES = 0x43;
+
+  CS_EXCEPTION_RESPONSE = 0x80;     // 异常响应
+}
+
+
+
+
+enum NmtState {
+  // 0x00 - 正在初始化（Initializing）
+  NMT_INITIALIZING = 0x00;
+
+  // 0x01 - 未连接 / 应用复位（Reset Application）
+  NMT_RESET_APPLICATION = 0x01;
+
+  // 0x02 - 正在连接（Connecting）
+  NMT_CONNECTING = 0x02;
+
+  // 0x03 - 准备（Preparing）
+  NMT_PREPARING = 0x03;
+
+  // 0x04 - 停止状态（Stopped），开启 SDO，关闭 PDO
+  NMT_STOPPED = 0x04;
+
+  // 0x05 - 运行状态（Operational），开启 SDO、PDO、NMT
+  NMT_OPERATIONAL = 0x05;
+
+  // 0x7F - 预运行状态（Pre-Operational），开启 SDO，关闭 PDO
+  NMT_PRE_OPERATIONAL = 0x7F;
+}
+
+
+
+enum NmtCommand {
+  // 未指定命令
+  NMT_COMMAND_UNSPECIFIED = 0x00;
+
+  // 0x01 - 启动远程节点（Start Remote Node）
+  NMT_START_REMOTE_NODE = 0x01;
+
+  // 0x02 - 停止远程节点（Stop Remote Node）
+  NMT_STOP_REMOTE_NODE = 0x02;
+
+  // 0x80 - 进入预操作状态（Enter Pre-Operational）
+  NMT_ENTER_PRE_OPERATIONAL = 0x80;
+
+  // 0x81 - 复位节点（Reset Node）
+  NMT_RESET_NODE = 0x81;
+
+  // 0x82 - 复位通信（Reset Communication）
+  NMT_RESET_COMMUNICATION = 0x82;
+}
+
+
+// CANopen communication object dictionary indexes.
+// CiA402 drive-profile objects are defined in cia402.proto.
+enum CanopenObjectIndex {
+  CANOPEN_OBJECT_INDEX_ZERO = 0;
+
+  CANOPEN_PRODUCER_HEARTBEAT_TIME_1017 = 0x1017;
+
+  // PDO 通信参数对象（Communication Object）
+  CANOPEN_RPDO1_COMM_1400 = 0x1400;
+  CANOPEN_RPDO2_COMM_1401 = 0x1401;
+  CANOPEN_RPDO3_COMM_1402 = 0x1402;
+  CANOPEN_RPDO4_COMM_1403 = 0x1403;
+
+  CANOPEN_TPDO1_COMM_1800 = 0x1800;
+  CANOPEN_TPDO2_COMM_1801 = 0x1801;
+  CANOPEN_TPDO3_COMM_1802 = 0x1802;
+  CANOPEN_TPDO4_COMM_1803 = 0x1803;
+
+  // PDO 映射对象（Mapping Object）
+  CANOPEN_RPDO1_MAP_1600 = 0x1600;
+  CANOPEN_RPDO2_MAP_1601 = 0x1601;
+  CANOPEN_RPDO3_MAP_1602 = 0x1602;
+  CANOPEN_RPDO4_MAP_1603 = 0x1603;
+
+  CANOPEN_TPDO1_MAP_1A00 = 0x1A00;
+  CANOPEN_TPDO2_MAP_1A01 = 0x1A01;
+  CANOPEN_TPDO3_MAP_1A02 = 0x1A02;
+  CANOPEN_TPDO4_MAP_1A03 = 0x1A03;
+
+  // Ti5 vendor-specific objects used through CANopen SDO.
+  CANOPEN_USER_SAVE_PARA_2000 = 0x2000;
+  CANOPEN_POSITION_OFFSET_2008 = 0x2008;
+}
+
+// 子索引
+enum ObSubIndex {
+  SUB_INDEX_0 = 0;
+  SUB_INDEX_1 = 1;
+  SUB_INDEX_2 = 2;
+  SUB_INDEX_3 = 3;
+  SUB_INDEX_4 = 4;
+  SUB_INDEX_5 = 5;
+  SUB_INDEX_6 = 6;
+  SUB_INDEX_7 = 7;
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/cia402.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/cia402.proto
new file mode 100644
index 0000000..96e46c7
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/cia402.proto
@@ -0,0 +1,64 @@
+syntax = "proto3";
+
+package cmvr.msgs;
+
+// CiA402 object dictionary indexes shared by CANopen and EtherCAT CoE drives.
+enum Cia402ObjectIndex {
+  CIA402_OBJECT_INDEX_ZERO = 0;
+
+  CIA402_ERROR_CODE_603F = 0x603F;
+
+  CIA402_CONTROL_WORD_6040 = 0x6040;
+  CIA402_STATUS_WORD_6041 = 0x6041;
+
+  CIA402_QUICK_STOP_OPTION_605A = 0x605A;
+  CIA402_SHUTDOWN_OPTION_605B = 0x605B;
+  CIA402_DISABLE_OPERATION_OPTION_605C = 0x605C;
+  CIA402_HALT_OPTION_605D = 0x605D;
+  CIA402_FAULT_REACTION_OPTION_605E = 0x605E;
+
+  CIA402_OPERATION_MODE_6060 = 0x6060;
+  CIA402_MODE_DISPLAY_6061 = 0x6061;
+
+  CIA402_POSITION_DEMAND_VALUE_6062 = 0x6062;
+  CIA402_ACTUAL_POSITION_6064 = 0x6064;
+  CIA402_MAX_FOLLOWING_ERROR_6065 = 0x6065;
+  CIA402_POSITION_WINDOW_6067 = 0x6067;
+  CIA402_POSITION_WINDOW_TIME_6068 = 0x6068;
+
+  CIA402_VELOCITY_DEMAND_VALUE_606B = 0x606B;
+  CIA402_ACTUAL_VELOCITY_606C = 0x606C;
+  CIA402_VELOCITY_WINDOW_606D = 0x606D;
+  CIA402_VELOCITY_WINDOW_TIME_606E = 0x606E;
+  CIA402_VELOCITY_THRESHOLD_606F = 0x606F;
+  CIA402_VELOCITY_THRESHOLD_TIME_6070 = 0x6070;
+
+  CIA402_TARGET_TORQUE_6071 = 0x6071;
+  CIA402_MAX_TORQUE_6072 = 0x6072;
+  CIA402_TORQUE_DEMAND_VALUE_6074 = 0x6074;
+  CIA402_MOTOR_RATED_TORQUE_6076 = 0x6076;
+  CIA402_ACTUAL_TORQUE_6077 = 0x6077;
+  CIA402_ACTUAL_CURRENT_6078 = 0x6078;
+  CIA402_DC_LINK_VOLTAGE_6079 = 0x6079;
+
+  CIA402_TARGET_POSITION_607A = 0x607A;
+  CIA402_HOME_OFFSET_607C = 0x607C;
+  CIA402_SOFTWARE_POSITION_LIMIT_607D = 0x607D;
+  CIA402_MAX_PROFILE_VELOCITY_607F = 0x607F;
+
+  CIA402_PROFILE_VELOCITY_6081 = 0x6081;
+  CIA402_PROFILE_ACCELERATION_6083 = 0x6083;
+  CIA402_PROFILE_DECELERATION_6084 = 0x6084;
+  CIA402_QUICK_STOP_DECELERATION_6085 = 0x6085;
+  CIA402_TORQUE_SLOPE_6087 = 0x6087;
+
+  CIA402_GEAR_RATIO_6091 = 0x6091;
+  CIA402_VELOCITY_OFFSET_60B1 = 0x60B1;
+  CIA402_TORQUE_OFFSET_60B2 = 0x60B2;
+  CIA402_INTERPOLATION_DATA_RECORD_60C1 = 0x60C1;
+  CIA402_INTERPOLATION_TIME_PERIOD_60C2 = 0x60C2;
+  CIA402_FOLLOWING_ERROR_ACTUAL_VALUE_60F4 = 0x60F4;
+  CIA402_TARGET_VELOCITY_60FF = 0x60FF;
+
+  CIA402_SUPPORTED_DRIVE_MODES_6502 = 0x6502;
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/error_code.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/error_code.proto
new file mode 100644
index 0000000..66291a6
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/error_code.proto
@@ -0,0 +1,29 @@
+syntax = "proto3";
+
+package cmvr.msgs;
+
+// Error codes enum for API's categorized by modules.
+enum ErrorCode {
+  // No error, returns on success.
+  OK = 0;
+
+  // Canbus module error codes start from here.
+  CANBUS_ERROR = 2000;
+  CAN_CLIENT_ERROR_BASE = 2100;
+  CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED = 2101;
+  CAN_CLIENT_ERROR_FRAME_NUM = 2102;
+  CAN_CLIENT_ERROR_SEND_FAILED = 2103;
+  CAN_CLIENT_ERROR_RECV_FAILED = 2104;
+
+  // motor
+  MOTOR_ERROR = 3000;
+  MOTOR_ERROR_SET_ZERO = 3001;
+
+
+
+}
+
+message StatusPb {
+   ErrorCode error_code = 1;
+   string msg = 2;
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/motor.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/motor.proto
new file mode 100644
index 0000000..55cda86
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/motor.proto
@@ -0,0 +1,116 @@
+syntax = "proto3";
+import "cmvr/msgs/canopen.proto";
+package cmvr.msgs;
+
+
+
+/* --------------------------------------------------------
+ * CAN OPEN 定义
+ * --------------------------------------------------------*/
+
+
+
+
+// 电机控制模式（Operation Mode）
+enum RunMode {
+  // 未指定
+  RUN_MODE_UNSPECIFIED = 0;
+
+  // Profile Position Mode - 位置模式
+  RUN_MODE_PROFILE_POSITION = 1;
+
+  // Velocity Mode - 简单速度模式
+  RUN_MODE_VELOCITY = 2;
+
+  // Profile Velocity Mode - 速度模式（带轮廓）
+  RUN_MODE_PROFILE_VELOCITY = 3;
+
+  // Torque Mode - 转矩模式
+  RUN_MODE_TORQUE = 4;
+
+  // Homing Mode - 回零模式
+  RUN_MODE_HOMING = 5;
+
+  // Interpolation Mode - 位置插补模式
+  RUN_MODE_INTERPOLATED_POSITION = 7;
+
+  // Cyclic Synchronous Position Mode - 周期位置模式
+  RUN_MODE_CYCLIC_SYNC_POSITION = 8;
+
+  // Cyclic Synchronous Velocity Mode - 周期速度模式
+  RUN_MODE_CYCLIC_SYNC_VELOCITY = 9;
+
+  // Cyclic Synchronous Current Mode - 周期转矩模式
+  RUN_MODE_CYCLIC_SYNC_CURRENT = 10;
+}
+
+
+
+
+
+// 电机状态数据
+message MotorStatus {
+  RunMode run_mode = 1;        // 当前运行模式
+
+
+  int32 current = 2;         // 当前电流（单位：mA）
+  int32 target_current = 3;  // 目标电流（单位：mA）
+  int32 speed = 4;           // 当前速度，转换为度每秒：(speed / 100 / 减速比) * 360
+  int32 target_speed = 5;    // 目标速度，单位同上
+  int32 position = 6;        // 当前电机位置（位置转角度：(position / 65536 / 减速比) * 360）
+  int32 target_position = 7; // 目标位置（非位置模式无效）
+  uint32 error_state = 8;     // 错误状态位（见位说明）
+
+  int32 speed_kp = 9;        // 速度环Kp，含模式和速度信息（bit复用）
+  int32 speed_ki = 10;       // 速度环Ki，含模式和速度信息（bit复用）
+  int32 speed_kd = 11;       // 速度环Kd
+
+  int32 position_kp = 12;    // 位置环Kp
+  int32 position_ki = 13;    // 位置环Ki
+  int32 position_kd = 14;    // 位置环Kd
+
+  int32 bus_voltage = 15;    // 母线电压
+
+  int32 max_abs_current = 16; // 最大电流绝对值（单位：mA）
+  int32 max_pos_current = 17; // 最大正电流（单位：mA）
+  int32 min_neg_current = 18; // 最小负电流（单位：mA）
+
+  int32 max_pos_accel = 19;   // 最大正向加速度
+  int32 min_neg_accel = 20;   // 最小负向加速度
+  int32 max_pos_velocity = 21; // 最大正向速度（转化为度/秒）
+  int32 min_neg_velocity = 22; // 最小负向速度（转化为度/秒）
+
+  int32 max_pos_position = 23; // 最大正向位置（角度）
+  int32 min_neg_position = 24; // 最小负向位置（角度）
+
+  int32 motor_temp = 25;      // 电机温度（单位：摄氏度）
+  int32 board_temp = 26;      // 电路板温度（单位：摄氏度）
+
+  int32 current_kp = 27;      // 电流P
+  int32 current_ki = 28;      // 电流I
+  int32 current_kd = 29;      // 电流D
+
+  int32 motor_type = 30;      // 电机型号（复合字段，包含刹车、ACTUATOR_TYPE等）
+  int32 motor_version = 31;   // 电机版本号（软件+硬件，16进制格式）
+  int32 software_version = 32;// 软件版本号（16进制格式）
+
+  int32 position_offset = 33; // 当前位置偏移（编码器位置 - 偏移值）
+  bytes csp_data = 34;        // 获取CSP，8字节数据
+  int32 encoder_voltage = 35; // 编码器电池电压（新版硬件支持）
+  int32 encoder_state = 36;   // 编码器状态（双编码器=外圈位置，单编码器=状态）
+
+  int32 overvoltage_limit = 37;    // 过压阈值（单位：V）
+  int32 undervoltage_limit = 38;  // 欠压阈值（单位：V）
+  int32 coil_over_temp = 39;      // 电机线圈过温阈值（单位：℃）
+  int32 driver_over_temp = 40;    // 驱动板过温阈值（单位：℃）
+
+  /* ---------------------
+   * CANOPEN 特有的参数
+   * --------------------*/
+  SdoFrame sdo_response = 41;
+  NmtState nmt_state = 42;
+  // 只保留值，具体值在使用的时候使用联合体去解析
+  uint32 ctrl_word = 43;
+  uint32  status_word = 44;
+
+}
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/robot_detail.proto b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/robot_detail.proto
new file mode 100644
index 0000000..375fdfe
--- /dev/null
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/proto/cmvr/msgs/robot_detail.proto
@@ -0,0 +1,13 @@
+syntax = "proto3";
+
+import "cmvr/msgs/motor.proto";
+package cmvr.msgs;
+
+
+// 包含机器人的所有信息
+
+message RobotDetail{
+
+  // key 电机 nodeid
+  map motors = 1;  // node_id => status
+}
diff --git a/cmvr-iot-common/src/main/java/com/cmvr/common/core/domain/BaseEntity.java b/cmvr-iot-common/src/main/java/com/cmvr/common/core/domain/BaseEntity.java
index ee06996..1c21931 100644
--- a/cmvr-iot-common/src/main/java/com/cmvr/common/core/domain/BaseEntity.java
+++ b/cmvr-iot-common/src/main/java/com/cmvr/common/core/domain/BaseEntity.java
@@ -35,11 +35,11 @@ public class BaseEntity implements Serializable
     private Date createTime;
 
     /** 更新者 */
-    @TableField(fill = FieldFill.UPDATE)
+    @TableField(fill = FieldFill.INSERT_UPDATE)
     private String updateBy;
 
     /** 更新时间 */
-    @TableField(fill = FieldFill.UPDATE)
+    @TableField(fill = FieldFill.INSERT_UPDATE)
     @JsonFormat(pattern = "yyyy-MM-dd HH:mm:ss")
     private Date updateTime;
 
diff --git a/cmvr-iot-framework/pom.xml b/cmvr-iot-framework/pom.xml
index 279ffe8..4c1db27 100644
--- a/cmvr-iot-framework/pom.xml
+++ b/cmvr-iot-framework/pom.xml
@@ -68,6 +68,12 @@
             spring-boot-starter-websocket
         
 
+        
+            org.springframework.boot
+            spring-boot-starter-test
+            test
+        
+
     
 
 
diff --git a/cmvr-iot-framework/src/main/java/com/cmvr/framework/config/MyBatisConfig.java b/cmvr-iot-framework/src/main/java/com/cmvr/framework/config/MyBatisConfig.java
index dc03d3f..108cf77 100644
--- a/cmvr-iot-framework/src/main/java/com/cmvr/framework/config/MyBatisConfig.java
+++ b/cmvr-iot-framework/src/main/java/com/cmvr/framework/config/MyBatisConfig.java
@@ -7,11 +7,14 @@ import java.util.HashSet;
 import java.util.List;
 import javax.sql.DataSource;
 import org.apache.ibatis.io.VFS;
+import org.apache.ibatis.plugin.Interceptor;
 import org.apache.ibatis.session.SqlSessionFactory;
 import com.baomidou.mybatisplus.core.config.GlobalConfig;
+import com.baomidou.mybatisplus.core.handlers.MetaObjectHandler;
 import com.baomidou.mybatisplus.core.toolkit.GlobalConfigUtils;
 import com.baomidou.mybatisplus.spring.MybatisSqlSessionFactoryBean;
 import com.github.yulichang.injector.MPJSqlInjector;
+import com.cmvr.framework.mybatisPlus.AuditFieldInterceptor;
 import org.mybatis.spring.boot.autoconfigure.SpringBootVFS;
 import org.springframework.beans.factory.annotation.Autowired;
 import org.springframework.context.annotation.Bean;
@@ -117,7 +120,9 @@ public class MyBatisConfig
     }
 
     @Bean
-    public SqlSessionFactory sqlSessionFactory(DataSource dataSource, MPJSqlInjector mpjSqlInjector) throws Exception
+    public SqlSessionFactory sqlSessionFactory(DataSource dataSource, MPJSqlInjector mpjSqlInjector,
+            MetaObjectHandler metaObjectHandler, Interceptor[] interceptors,
+            AuditFieldInterceptor auditFieldInterceptor) throws Exception
     {
         String typeAliasesPackage = env.getProperty("mybatis-plus.typeAliasesPackage",
                 env.getProperty("mybatis.typeAliasesPackage", "com.cmvr.**.domain"));
@@ -132,8 +137,13 @@ public class MyBatisConfig
         sessionFactory.setTypeAliasesPackage(typeAliasesPackage);
         sessionFactory.setMapperLocations(resolveMapperLocations(StringUtils.split(mapperLocations, ",")));
         sessionFactory.setConfigLocation(new DefaultResourceLoader().getResource(configLocation));
+        List orderedInterceptors = new ArrayList<>(Arrays.asList(interceptors));
+        orderedInterceptors.remove(auditFieldInterceptor);
+        orderedInterceptors.add(auditFieldInterceptor);
+        sessionFactory.setPlugins(orderedInterceptors.toArray(new Interceptor[0]));
         GlobalConfig globalConfig = GlobalConfigUtils.defaults();
         globalConfig.setSqlInjector(mpjSqlInjector);
+        globalConfig.setMetaObjectHandler(metaObjectHandler);
         sessionFactory.setGlobalConfig(globalConfig);
         return sessionFactory.getObject();
     }
diff --git a/cmvr-iot-framework/src/main/java/com/cmvr/framework/config/ResourcesConfig.java b/cmvr-iot-framework/src/main/java/com/cmvr/framework/config/ResourcesConfig.java
index be02ebb..420226d 100644
--- a/cmvr-iot-framework/src/main/java/com/cmvr/framework/config/ResourcesConfig.java
+++ b/cmvr-iot-framework/src/main/java/com/cmvr/framework/config/ResourcesConfig.java
@@ -8,6 +8,7 @@ import org.springframework.http.CacheControl;
 import org.springframework.web.cors.CorsConfiguration;
 import org.springframework.web.cors.UrlBasedCorsConfigurationSource;
 import org.springframework.web.filter.CorsFilter;
+import org.springframework.web.servlet.config.annotation.AsyncSupportConfigurer;
 import org.springframework.web.servlet.config.annotation.InterceptorRegistry;
 import org.springframework.web.servlet.config.annotation.ResourceHandlerRegistry;
 import org.springframework.web.servlet.config.annotation.WebMvcConfigurer;
@@ -26,6 +27,12 @@ public class ResourcesConfig implements WebMvcConfigurer
     @Autowired
     private RepeatSubmitInterceptor repeatSubmitInterceptor;
 
+    @Override
+    public void configureAsyncSupport(AsyncSupportConfigurer configurer)
+    {
+        configurer.setDefaultTimeout(0L);
+    }
+
     @Override
     public void addResourceHandlers(ResourceHandlerRegistry registry)
     {
@@ -69,4 +76,4 @@ public class ResourcesConfig implements WebMvcConfigurer
         // 返回新的CorsFilter
         return new CorsFilter(source);
     }
-}
\ No newline at end of file
+}
diff --git a/cmvr-iot-framework/src/main/java/com/cmvr/framework/config/SecurityConfig.java b/cmvr-iot-framework/src/main/java/com/cmvr/framework/config/SecurityConfig.java
index 2da24c2..bb8ca7b 100644
--- a/cmvr-iot-framework/src/main/java/com/cmvr/framework/config/SecurityConfig.java
+++ b/cmvr-iot-framework/src/main/java/com/cmvr/framework/config/SecurityConfig.java
@@ -105,7 +105,8 @@ public class SecurityConfig
                     .requestMatchers(HttpMethod.GET, "/", "/*.html", "/**.html", "/**.css", "/**.js", "/profile/**").permitAll()
                     .requestMatchers("/doc.html", "/swagger-ui.html", "/v3/api-docs/**", "/swagger-ui/**",
                             "/webjars/**", "/druid/**").permitAll()
-                    .requestMatchers("/system/file/upload", "/evaluation/callback", "/flow/**", "/flowise/**",
+                    .requestMatchers("/api/edge/camera/rgb-stream", "/api/edge/camera/rgb-stream/public",
+                            "/system/file/upload", "/evaluation/callback", "/flow/**", "/flowise/**",
                             "/kws/**", "/ws/**", "/api/grpc/**", "/show/**", "/node-red/**",
                             "/swagger-resources/**", "/webjars/**", "/*/api-docs", "/ti/**",
                             "/flow/execute").permitAll()
diff --git a/cmvr-iot-framework/src/main/java/com/cmvr/framework/mybatisPlus/AuditFieldInterceptor.java b/cmvr-iot-framework/src/main/java/com/cmvr/framework/mybatisPlus/AuditFieldInterceptor.java
new file mode 100644
index 0000000..2c21194
--- /dev/null
+++ b/cmvr-iot-framework/src/main/java/com/cmvr/framework/mybatisPlus/AuditFieldInterceptor.java
@@ -0,0 +1,110 @@
+package com.cmvr.framework.mybatisPlus;
+
+import java.lang.reflect.Array;
+import java.util.Collections;
+import java.util.IdentityHashMap;
+import java.util.Map;
+import java.util.Set;
+
+import org.apache.ibatis.executor.Executor;
+import org.apache.ibatis.mapping.MappedStatement;
+import org.apache.ibatis.mapping.SqlCommandType;
+import org.apache.ibatis.plugin.Interceptor;
+import org.apache.ibatis.plugin.Intercepts;
+import org.apache.ibatis.plugin.Invocation;
+import org.apache.ibatis.plugin.Signature;
+import org.apache.ibatis.reflection.MetaObject;
+import org.apache.ibatis.reflection.SystemMetaObject;
+import org.springframework.stereotype.Component;
+
+/**
+ * Fills audit fields before dynamic XML SQL is evaluated.
+ */
+@Component
+@Intercepts({
+        @Signature(type = Executor.class, method = "update", args = {MappedStatement.class, Object.class})
+})
+public class AuditFieldInterceptor implements Interceptor
+{
+    private final MyMetaObjectHandler metaObjectHandler;
+
+    public AuditFieldInterceptor(MyMetaObjectHandler metaObjectHandler)
+    {
+        this.metaObjectHandler = metaObjectHandler;
+    }
+
+    @Override
+    public Object intercept(Invocation invocation) throws Throwable
+    {
+        MappedStatement mappedStatement = (MappedStatement) invocation.getArgs()[0];
+        SqlCommandType commandType = mappedStatement.getSqlCommandType();
+        if (commandType == SqlCommandType.INSERT || commandType == SqlCommandType.UPDATE)
+        {
+            fillAuditFields(invocation.getArgs()[1], commandType);
+        }
+        return invocation.proceed();
+    }
+
+    void fillAuditFields(Object parameter, SqlCommandType commandType)
+    {
+        Set visited = Collections.newSetFromMap(new IdentityHashMap<>());
+        fill(parameter, commandType, visited);
+    }
+
+    private void fill(Object parameter, SqlCommandType commandType, Set visited)
+    {
+        if (parameter == null || isSimpleValue(parameter) || !visited.add(parameter))
+        {
+            return;
+        }
+        if (parameter instanceof Map map)
+        {
+            map.values().forEach(value -> fill(value, commandType, visited));
+            return;
+        }
+        if (parameter instanceof Iterable iterable)
+        {
+            iterable.forEach(value -> fill(value, commandType, visited));
+            return;
+        }
+        if (parameter.getClass().isArray())
+        {
+            for (int index = 0; index < Array.getLength(parameter); index++)
+            {
+                fill(Array.get(parameter, index), commandType, visited);
+            }
+            return;
+        }
+
+        MetaObject metaObject = SystemMetaObject.forObject(parameter);
+        if (!hasAuditField(metaObject))
+        {
+            return;
+        }
+        if (commandType == SqlCommandType.INSERT)
+        {
+            metaObjectHandler.insertFill(metaObject);
+        }
+        else
+        {
+            metaObjectHandler.updateFill(metaObject);
+        }
+    }
+
+    private boolean hasAuditField(MetaObject metaObject)
+    {
+        return metaObject.hasSetter(MyMetaObjectHandler.CREATE_BY)
+                || metaObject.hasSetter(MyMetaObjectHandler.CREATE_TIME)
+                || metaObject.hasSetter(MyMetaObjectHandler.UPDATE_BY)
+                || metaObject.hasSetter(MyMetaObjectHandler.UPDATE_TIME);
+    }
+
+    private boolean isSimpleValue(Object value)
+    {
+        return value instanceof CharSequence
+                || value instanceof Number
+                || value instanceof Boolean
+                || value instanceof Character
+                || value instanceof Enum;
+    }
+}
diff --git a/cmvr-iot-framework/src/main/java/com/cmvr/framework/mybatisPlus/MyMetaObjectHandler.java b/cmvr-iot-framework/src/main/java/com/cmvr/framework/mybatisPlus/MyMetaObjectHandler.java
index e97d595..1942ec0 100644
--- a/cmvr-iot-framework/src/main/java/com/cmvr/framework/mybatisPlus/MyMetaObjectHandler.java
+++ b/cmvr-iot-framework/src/main/java/com/cmvr/framework/mybatisPlus/MyMetaObjectHandler.java
@@ -32,13 +32,14 @@ public class MyMetaObjectHandler implements MetaObjectHandler {
             username = "anonymous"; // 匿名接口默认值
         }
         // 起始版本 3.3.0(推荐使用)
-        this.setFieldValByName(CREATE_BY, username, metaObject);
-        this.setFieldValByName(CREATE_TIME, currentTime(metaObject, CREATE_TIME), metaObject);
-        this.setFieldValByName(UPDATE_BY, username, metaObject);
-        this.setFieldValByName(UPDATE_TIME, currentTime(metaObject, UPDATE_TIME), metaObject);
-        this.setFieldValByName(DELETED, "0", metaObject);
+        setFieldValIfPresent(CREATE_BY, username, metaObject);
+        setFieldValIfPresent(CREATE_TIME, currentTime(metaObject, CREATE_TIME), metaObject);
+        setFieldValIfPresent(UPDATE_BY, username, metaObject);
+        setFieldValIfPresent(UPDATE_TIME, currentTime(metaObject, UPDATE_TIME), metaObject);
+        setFieldValIfPresent(DELETED, "0", metaObject);
 //        this.setFieldValByName(STATUS, "1", metaObject);
-        if (getFieldValByName(STATUS, metaObject) == null) {
+        if (metaObject.hasSetter(STATUS) && metaObject.hasGetter(STATUS)
+                && getFieldValByName(STATUS, metaObject) == null) {
             this.setFieldValByName(STATUS, "1", metaObject);
         }
     }
@@ -55,8 +56,14 @@ public class MyMetaObjectHandler implements MetaObjectHandler {
         } catch (Exception e) {
             username = "anonymous"; // 匿名接口默认值
         }
-        this.setFieldValByName(UPDATE_BY, username, metaObject);
-        this.setFieldValByName(UPDATE_TIME, currentTime(metaObject, UPDATE_TIME), metaObject);
+        setFieldValIfPresent(UPDATE_BY, username, metaObject);
+        setFieldValIfPresent(UPDATE_TIME, currentTime(metaObject, UPDATE_TIME), metaObject);
+    }
+
+    private void setFieldValIfPresent(String fieldName, Object value, MetaObject metaObject) {
+        if (value != null && metaObject.hasSetter(fieldName)) {
+            this.setFieldValByName(fieldName, value, metaObject);
+        }
     }
 
     private Object currentTime(MetaObject metaObject, String fieldName) {
diff --git a/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/handler/BaseChannelSubscribeHandler.java b/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/handler/BaseChannelSubscribeHandler.java
index 106298e..533d73a 100644
--- a/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/handler/BaseChannelSubscribeHandler.java
+++ b/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/handler/BaseChannelSubscribeHandler.java
@@ -3,6 +3,7 @@ package com.cmvr.framework.websocket.handler;
 import com.cmvr.framework.websocket.manager.ChannelSubscriptionManager;
 import com.cmvr.framework.websocket.message.WSChannelSubscriptionMessage;
 import com.cmvr.framework.websocket.service.GrpcClientService;
+import com.cmvr.framework.websocket.service.MessagePushService;
 import lombok.RequiredArgsConstructor;
 import org.slf4j.Logger;
 import org.slf4j.LoggerFactory;
@@ -16,6 +17,7 @@ public abstract class BaseChannelSubscribeHandler implements WSMessageHandler {
+                    if (needGrpc) {
+                        messagePushService.replayH264Fmp4Init(channel, session);
+                    }
+                }
+        );
         // 没人订阅 + 需要grpc → 发起远端订阅
-        if (needGrpc && !channelSubscriptionManager.hasSubscribers(channel)) {
+        if (needGrpc && firstSubscriber) {
             String[] params = parseGrpcParam(channel);
             String service = params[0];
             String method = params[1];
@@ -68,12 +80,11 @@ public abstract class BaseChannelSubscribeHandler implements WSMessageHandler 连接集合
     private final Map> channelSessions = new ConcurrentHashMap<>();
 
-    public void subscribe(String channel, WebSocketSession session) {
-        channelSessions.computeIfAbsent(channel, k -> ConcurrentHashMap.newKeySet()).add(session);
+    /**
+     * @return 当前会话是否是该频道的第一个订阅者
+     */
+    public boolean subscribe(String channel, WebSocketSession session, Runnable beforeJoinExistingChannel) {
+        boolean[] firstSubscriber = new boolean[1];
+        channelSessions.compute(channel, (key, sessions) -> {
+            Set target = sessions == null ? ConcurrentHashMap.newKeySet() : sessions;
+            firstSubscriber[0] = target.isEmpty();
+            if (!firstSubscriber[0]) {
+                beforeJoinExistingChannel.run();
+            }
+            target.add(session);
+            return target;
+        });
+        return firstSubscriber[0];
     }
 
     public void unsubscribe(String channel, WebSocketSession session) {
@@ -36,8 +50,17 @@ public class ChannelSubscriptionManager {
         return channelSessions.containsKey(channel);
     }
 
-    public void clearSession(WebSocketSession session) {
-        channelSessions.keySet().forEach(channel -> unsubscribe(channel, session));
+    /**
+     * 清理连接的所有频道，并返回因此失去最后一个订阅者的频道。
+     */
+    public Set clearSession(WebSocketSession session) {
+        Set emptiedChannels = new HashSet<>();
+        channelSessions.forEach((channel, sessions) -> {
+            if (sessions.remove(session) && sessions.isEmpty() && channelSessions.remove(channel, sessions)) {
+                emptiedChannels.add(channel);
+            }
+        });
+        return emptiedChannels;
     }
 
-}
\ No newline at end of file
+}
diff --git a/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/registry/MessageHandlerRegistry.java b/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/registry/MessageHandlerRegistry.java
index 5a2fdf5..24f43ab 100644
--- a/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/registry/MessageHandlerRegistry.java
+++ b/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/registry/MessageHandlerRegistry.java
@@ -26,7 +26,13 @@ public class MessageHandlerRegistry implements ApplicationContextAware {
             if (bean instanceof WSMessageHandler) {
                 WSMessageHandler handler = (WSMessageHandler) bean;
                 WSMessageType anno = bean.getClass().getAnnotation(WSMessageType.class);
-                handlerMap.put(anno.value(), new HandlerEntry<>(handler, anno.messageClass()));
+                HandlerEntry previous = handlerMap.putIfAbsent(
+                        anno.value(), new HandlerEntry<>(handler, anno.messageClass()));
+                if (previous != null) {
+                    throw new IllegalStateException("Duplicate WebSocket message handler for "
+                            + anno.value() + ": " + previous.getHandler().getClass().getName()
+                            + " and " + handler.getClass().getName());
+                }
             }
         }
     }
diff --git a/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/server/WSServer.java b/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/server/WSServer.java
index 14354b8..938d250 100644
--- a/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/server/WSServer.java
+++ b/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/server/WSServer.java
@@ -4,6 +4,8 @@ package com.cmvr.framework.websocket.server;
 import com.cmvr.framework.websocket.manager.ChannelSubscriptionManager;
 import com.cmvr.framework.websocket.manager.WSSessionManager;
 import com.cmvr.framework.websocket.registry.MessageHandlerRegistry;
+import com.cmvr.framework.websocket.service.GrpcClientService;
+import com.cmvr.framework.websocket.service.MessagePushService;
 import tools.jackson.databind.JsonNode;
 import tools.jackson.databind.ObjectMapper;
 import tools.jackson.databind.node.ObjectNode;
@@ -18,6 +20,8 @@ import org.springframework.web.socket.handler.TextWebSocketHandler;
 
 import java.net.URI;
 import java.util.Objects;
+import java.util.Set;
+import java.util.concurrent.CompletableFuture;
 import java.util.concurrent.Semaphore;
 import java.util.concurrent.atomic.AtomicInteger;
 
@@ -51,6 +55,12 @@ public class WSServer extends TextWebSocketHandler {
     @Autowired
     private ChannelSubscriptionManager channelSubscriptionManager;
 
+    @Autowired
+    private GrpcClientService grpcClientService;
+
+    @Autowired
+    private MessagePushService messagePushService;
+
     @Override
     public void afterConnectionEstablished(@NotNull WebSocketSession session) throws Exception {
         if (!SEMAPHORE.tryAcquire()) {
@@ -85,11 +95,27 @@ public class WSServer extends TextWebSocketHandler {
         SEMAPHORE.release();
 
         sessionManager.removeSession(session);
+        messagePushService.removeSession(session);
         // 清除通道session
-        channelSubscriptionManager.clearSession(session);
+        Set emptiedChannels = channelSubscriptionManager.clearSession(session);
+        emptiedChannels.forEach(this::stopGrpcChannel);
         log.info("连接关闭 sid={}，当前在线：{}", session.getAttributes().get("userId"), ONLINE_COUNT.get());
     }
 
+    private void stopGrpcChannel(String channel) {
+        String[] params = channel.split("/");
+        if (params.length != 4) {
+            return;
+        }
+        CompletableFuture.runAsync(() -> grpcClientService.send(
+                false, params[2], params[3], params[0], params[1]
+        )).whenComplete((ignored, throwable) -> {
+            if (!channelSubscriptionManager.hasSubscribers(channel)) {
+                messagePushService.clearMediaChannel(channel);
+            }
+        });
+    }
+
 
     public static JsonNode buildCommonMessage(String content) {
         ObjectNode node = new ObjectMapper().createObjectNode();
diff --git a/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/service/MessagePushService.java b/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/service/MessagePushService.java
index b4185c1..3d5fc48 100644
--- a/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/service/MessagePushService.java
+++ b/cmvr-iot-framework/src/main/java/com/cmvr/framework/websocket/service/MessagePushService.java
@@ -13,6 +13,12 @@ import org.springframework.web.socket.WebSocketSession;
 
 import java.io.ByteArrayOutputStream;
 import java.io.IOException;
+import java.nio.ByteBuffer;
+import java.nio.charset.StandardCharsets;
+import java.util.Arrays;
+import java.util.Map;
+import java.util.Set;
+import java.util.concurrent.ConcurrentHashMap;
 import java.util.zip.GZIPOutputStream;
 
 
@@ -20,11 +26,18 @@ import java.util.zip.GZIPOutputStream;
 public class MessagePushService {
 
     private static final Logger log = LoggerFactory.getLogger(MessagePushService.class);
+    private static final byte[] MEDIA_MAGIC = new byte[]{'C', 'M', 'V', 'F'};
+    private static final byte MEDIA_VERSION = 1;
+    private static final byte MEDIA_TYPE_H264_FMP4 = 1;
+    private static final int MEDIA_HEADER_SIZE = 26;
+    private static final int MAX_MEDIA_INIT_SIZE = 1024 * 1024;
 
     @Autowired
     private ChannelSubscriptionManager subscriptionManager;
 
     private final ObjectMapper objectMapper = new ObjectMapper();
+    private final Map mediaBootstraps = new ConcurrentHashMap<>();
+    private final Map> mediaInitWaiters = new ConcurrentHashMap<>();
 
     public void pushToChannel(String channel, Object payload) {
         try {
@@ -35,24 +48,12 @@ public class MessagePushService {
 
             String json = objectMapper.writeValueAsString(message);
 
-            byte[] data = json.getBytes();
+            byte[] data = json.getBytes(StandardCharsets.UTF_8);
 
             // 压缩数据
             byte[] compressedData = compress(data);
 
-            BinaryMessage binaryMessage = new BinaryMessage(compressedData);
-            if (!subscriptionManager.hasSubscribers(channel)) {
-                throw new GlobalException("没有订阅该频道的会话");
-            }
-            subscriptionManager.getSubscribedSessions(channel).stream()
-                    .filter(WebSocketSession::isOpen)
-                    .forEach(session -> {
-                        try {
-                            session.sendMessage(binaryMessage);
-                        } catch (IOException e) {
-                            log.error("消息发送失败: {}", e.getMessage());
-                        }
-                    });
+            sendToChannel(channel, compressedData);
 
         } catch (GlobalException e) {
             throw new GlobalException(e.getMessage());
@@ -61,6 +62,124 @@ public class MessagePushService {
         }
     }
 
+    /**
+     * 推送连续 H.264 fragmented MP4 数据。媒体负载不再进行 Base64、JSON 或 GZIP 编码。
+     */
+    public void pushH264Fmp4ToChannel(String channel, byte[] payload, int sequence) {
+        if (payload == null || payload.length == 0) {
+            return;
+        }
+
+        if (sequence == 1) {
+            mediaBootstraps.put(channel, new MediaBootstrap());
+        }
+        MediaBootstrap bootstrap = mediaBootstraps.computeIfAbsent(channel, key -> new MediaBootstrap());
+        bootstrap.accept(payload);
+        replayWaitingMediaInit(channel, bootstrap);
+        if (!subscriptionManager.hasSubscribers(channel)) {
+            return;
+        }
+
+        sendToChannel(channel, buildMediaPacket(channel, payload, sequence));
+    }
+
+    /** 给中途加入频道的会话补发fMP4初始化段。 */
+    public void replayH264Fmp4Init(String channel, WebSocketSession session) {
+        if (!channel.contains("/getRGBImageStream/")) {
+            return;
+        }
+        MediaBootstrap bootstrap = mediaBootstraps.get(channel);
+        byte[] initSegment = bootstrap == null ? null : bootstrap.getInitSegment();
+        if (initSegment == null) {
+            mediaInitWaiters.computeIfAbsent(channel, key -> ConcurrentHashMap.newKeySet()).add(session);
+            return;
+        }
+        sendMediaInit(channel, session, initSegment);
+    }
+
+    public void cancelMediaInitReplay(String channel, WebSocketSession session) {
+        Set sessions = mediaInitWaiters.get(channel);
+        if (sessions != null) {
+            sessions.remove(session);
+            if (sessions.isEmpty()) {
+                mediaInitWaiters.remove(channel, sessions);
+            }
+        }
+    }
+
+    public void removeSession(WebSocketSession session) {
+        mediaInitWaiters.forEach((channel, sessions) -> {
+            sessions.remove(session);
+            if (sessions.isEmpty()) {
+                mediaInitWaiters.remove(channel, sessions);
+            }
+        });
+    }
+
+    public void clearMediaChannel(String channel) {
+        mediaBootstraps.remove(channel);
+        mediaInitWaiters.remove(channel);
+    }
+
+    private void replayWaitingMediaInit(String channel, MediaBootstrap bootstrap) {
+        byte[] initSegment = bootstrap.getInitSegment();
+        if (initSegment == null) {
+            return;
+        }
+        Set sessions = mediaInitWaiters.remove(channel);
+        if (sessions != null) {
+            sessions.forEach(session -> sendMediaInit(channel, session, initSegment));
+        }
+    }
+
+    private void sendMediaInit(String channel, WebSocketSession session, byte[] initSegment) {
+        if (!session.isOpen()) {
+            return;
+        }
+        try {
+            synchronized (session) {
+                session.sendMessage(new BinaryMessage(buildMediaPacket(channel, initSegment, 0)));
+            }
+        } catch (IOException exception) {
+            log.error("频道{}媒体初始化段补发失败: {}", channel, exception.getMessage());
+        }
+    }
+
+    private byte[] buildMediaPacket(String channel, byte[] payload, int sequence) {
+        byte[] channelBytes = channel.getBytes(StandardCharsets.UTF_8);
+        if (channelBytes.length > 0xFFFF) {
+            throw new IllegalArgumentException("WebSocket媒体频道名称过长: " + channel);
+        }
+
+        ByteBuffer buffer = ByteBuffer.allocate(MEDIA_HEADER_SIZE + channelBytes.length + payload.length);
+        buffer.put(MEDIA_MAGIC);
+        buffer.put(MEDIA_VERSION);
+        buffer.put(MEDIA_TYPE_H264_FMP4);
+        buffer.putShort((short) 0);
+        buffer.putLong(System.currentTimeMillis());
+        buffer.putInt(sequence);
+        buffer.putShort((short) channelBytes.length);
+        buffer.putInt(payload.length);
+        buffer.put(channelBytes);
+        buffer.put(payload);
+        return buffer.array();
+    }
+
+    private void sendToChannel(String channel, byte[] payload) {
+        subscriptionManager.getSubscribedSessions(channel).stream()
+                .filter(WebSocketSession::isOpen)
+                .forEach(session -> {
+                    try {
+                        // Spring原生WebSocketSession不允许多个线程并发发送。
+                        synchronized (session) {
+                            session.sendMessage(new BinaryMessage(payload));
+                        }
+                    } catch (IOException e) {
+                        log.error("频道{}消息发送失败: {}", channel, e.getMessage());
+                    }
+                });
+    }
+
     private byte[] compress(byte[] data) throws IOException {
         ByteArrayOutputStream baos = new ByteArrayOutputStream();
         try (GZIPOutputStream gzip = new GZIPOutputStream(baos)) {
@@ -68,4 +187,42 @@ public class MessagePushService {
         }
         return baos.toByteArray();
     }
+
+    private static final class MediaBootstrap {
+        private final ByteArrayOutputStream data = new ByteArrayOutputStream(64 * 1024);
+        private byte[] initSegment;
+
+        private synchronized void accept(byte[] chunk) {
+            if (initSegment != null || data.size() >= MAX_MEDIA_INIT_SIZE) {
+                return;
+            }
+            data.write(chunk, 0, Math.min(chunk.length, MAX_MEDIA_INIT_SIZE - data.size()));
+            byte[] combined = data.toByteArray();
+            int moofTypeOffset = findAscii(combined, "moof");
+            if (moofTypeOffset >= 4) {
+                initSegment = Arrays.copyOf(combined, moofTypeOffset - 4);
+            }
+        }
+
+        private synchronized byte[] getInitSegment() {
+            return initSegment == null ? null : initSegment.clone();
+        }
+
+        private static int findAscii(byte[] data, String text) {
+            byte[] target = text.getBytes(StandardCharsets.US_ASCII);
+            for (int index = 0; index <= data.length - target.length; index++) {
+                boolean matched = true;
+                for (int offset = 0; offset < target.length; offset++) {
+                    if (data[index + offset] != target[offset]) {
+                        matched = false;
+                        break;
+                    }
+                }
+                if (matched) {
+                    return index;
+                }
+            }
+            return -1;
+        }
+    }
 }
diff --git a/cmvr-iot-framework/src/test/java/com/cmvr/framework/mybatisPlus/AuditFieldInterceptorTest.java b/cmvr-iot-framework/src/test/java/com/cmvr/framework/mybatisPlus/AuditFieldInterceptorTest.java
new file mode 100644
index 0000000..323bd98
--- /dev/null
+++ b/cmvr-iot-framework/src/test/java/com/cmvr/framework/mybatisPlus/AuditFieldInterceptorTest.java
@@ -0,0 +1,57 @@
+package com.cmvr.framework.mybatisPlus;
+
+import static org.junit.jupiter.api.Assertions.assertEquals;
+import static org.junit.jupiter.api.Assertions.assertNotNull;
+import static org.junit.jupiter.api.Assertions.assertNull;
+
+import java.util.List;
+import java.util.Map;
+
+import org.apache.ibatis.mapping.SqlCommandType;
+import org.junit.jupiter.api.Test;
+
+import com.cmvr.common.core.domain.BaseEntity;
+
+class AuditFieldInterceptorTest
+{
+    private final AuditFieldInterceptor interceptor =
+            new AuditFieldInterceptor(new MyMetaObjectHandler());
+
+    @Test
+    void fillsInsertAuditFieldsForNestedBatchParameters()
+    {
+        TestEntity first = new TestEntity();
+        TestEntity second = new TestEntity();
+
+        interceptor.fillAuditFields(Map.of("list", List.of(first, second)), SqlCommandType.INSERT);
+
+        assertInsertFields(first);
+        assertInsertFields(second);
+    }
+
+    @Test
+    void fillsOnlyUpdateFieldsForUpdateCommand()
+    {
+        TestEntity entity = new TestEntity();
+
+        interceptor.fillAuditFields(entity, SqlCommandType.UPDATE);
+
+        assertNull(entity.getCreateBy());
+        assertNull(entity.getCreateTime());
+        assertEquals("anonymous", entity.getUpdateBy());
+        assertNotNull(entity.getUpdateTime());
+    }
+
+    private void assertInsertFields(TestEntity entity)
+    {
+        assertEquals("anonymous", entity.getCreateBy());
+        assertNotNull(entity.getCreateTime());
+        assertEquals("anonymous", entity.getUpdateBy());
+        assertNotNull(entity.getUpdateTime());
+    }
+
+    private static class TestEntity extends BaseEntity
+    {
+        private static final long serialVersionUID = 1L;
+    }
+}
diff --git a/cmvr-iot-framework/src/test/java/com/cmvr/framework/websocket/handler/ChannelSubscriptionMessageHandlerTest.java b/cmvr-iot-framework/src/test/java/com/cmvr/framework/websocket/handler/ChannelSubscriptionMessageHandlerTest.java
new file mode 100644
index 0000000..db2cdfd
--- /dev/null
+++ b/cmvr-iot-framework/src/test/java/com/cmvr/framework/websocket/handler/ChannelSubscriptionMessageHandlerTest.java
@@ -0,0 +1,73 @@
+package com.cmvr.framework.websocket.handler;
+
+import com.cmvr.framework.websocket.manager.ChannelSubscriptionManager;
+import com.cmvr.framework.websocket.message.WSChannelSubscriptionMessage;
+import com.cmvr.framework.websocket.service.GrpcClientService;
+import com.cmvr.framework.websocket.service.MessagePushService;
+import org.junit.jupiter.api.Test;
+import org.springframework.web.socket.WebSocketSession;
+
+import java.util.HashMap;
+import java.util.Map;
+
+import static org.junit.jupiter.api.Assertions.assertTrue;
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.never;
+import static org.mockito.Mockito.timeout;
+import static org.mockito.Mockito.verify;
+import static org.mockito.Mockito.when;
+
+class ChannelSubscriptionMessageHandlerTest {
+
+    @Test
+    void simpleChannelOnlySubscribesLocally() throws Exception {
+        ChannelSubscriptionManager subscriptionManager = new ChannelSubscriptionManager();
+        GrpcClientService grpcClientService = mock(GrpcClientService.class);
+        MessagePushService messagePushService = mock(MessagePushService.class);
+        WebSocketSession session = session("user-1");
+        ChannelSubscriptionMessageHandler handler =
+                new ChannelSubscriptionMessageHandler(subscriptionManager, grpcClientService, messagePushService);
+
+        handler.handle(session, message("subscribe", "notifications"));
+
+        assertTrue(subscriptionManager.getSubscribedSessions("notifications").contains(session));
+        verify(grpcClientService, never()).send(
+                org.mockito.ArgumentMatchers.anyBoolean(),
+                org.mockito.ArgumentMatchers.anyString(),
+                org.mockito.ArgumentMatchers.anyString(),
+                org.mockito.ArgumentMatchers.anyString(),
+                org.mockito.ArgumentMatchers.anyString());
+    }
+
+    @Test
+    void grpcChannelSubscribesLocallyAndStartsRemoteSubscription() throws Exception {
+        ChannelSubscriptionManager subscriptionManager = new ChannelSubscriptionManager();
+        GrpcClientService grpcClientService = mock(GrpcClientService.class);
+        MessagePushService messagePushService = mock(MessagePushService.class);
+        WebSocketSession session = session("user-1");
+        ChannelSubscriptionMessageHandler handler =
+                new ChannelSubscriptionMessageHandler(subscriptionManager, grpcClientService, messagePushService);
+        String channel = "camera/stream/terminal-1/device-1";
+
+        handler.handle(session, message("subscribe", channel));
+
+        assertTrue(subscriptionManager.getSubscribedSessions(channel).contains(session));
+        verify(grpcClientService, timeout(1_000)).send(
+                true, "terminal-1", "device-1", "camera", "stream");
+    }
+
+    private static WSChannelSubscriptionMessage message(String action, String channel) {
+        WSChannelSubscriptionMessage message = new WSChannelSubscriptionMessage();
+        message.setAction(action);
+        message.setChannel(channel);
+        return message;
+    }
+
+    private static WebSocketSession session(String userId) {
+        WebSocketSession session = mock(WebSocketSession.class);
+        Map attributes = new HashMap<>();
+        attributes.put("userId", userId);
+        when(session.getAttributes()).thenReturn(attributes);
+        return session;
+    }
+}
diff --git a/cmvr-iot-framework/src/test/java/com/cmvr/framework/websocket/registry/MessageHandlerRegistryTest.java b/cmvr-iot-framework/src/test/java/com/cmvr/framework/websocket/registry/MessageHandlerRegistryTest.java
new file mode 100644
index 0000000..2466be8
--- /dev/null
+++ b/cmvr-iot-framework/src/test/java/com/cmvr/framework/websocket/registry/MessageHandlerRegistryTest.java
@@ -0,0 +1,46 @@
+package com.cmvr.framework.websocket.registry;
+
+import com.cmvr.framework.websocket.annotation.WSMessageType;
+import com.cmvr.framework.websocket.enums.WSMessageTypeEnum;
+import com.cmvr.framework.websocket.handler.WSMessageHandler;
+import com.cmvr.framework.websocket.message.WSMessage;
+import org.junit.jupiter.api.Test;
+import org.springframework.context.ApplicationContext;
+import org.springframework.web.socket.WebSocketSession;
+
+import java.util.LinkedHashMap;
+import java.util.Map;
+
+import static org.junit.jupiter.api.Assertions.assertThrows;
+import static org.mockito.Mockito.mock;
+import static org.mockito.Mockito.when;
+
+class MessageHandlerRegistryTest {
+
+    @Test
+    void rejectsDuplicateHandlersForTheSameMessageType() {
+        ApplicationContext context = mock(ApplicationContext.class);
+        Map handlers = new LinkedHashMap<>();
+        handlers.put("firstHandler", new FirstHandler());
+        handlers.put("secondHandler", new SecondHandler());
+        when(context.getBeansWithAnnotation(WSMessageType.class)).thenReturn(handlers);
+
+        MessageHandlerRegistry registry = new MessageHandlerRegistry();
+
+        assertThrows(IllegalStateException.class, () -> registry.setApplicationContext(context));
+    }
+
+    @WSMessageType(value = WSMessageTypeEnum.COMMON, messageClass = WSMessage.class)
+    static class FirstHandler implements WSMessageHandler {
+        @Override
+        public void handle(WebSocketSession session, WSMessage message) {
+        }
+    }
+
+    @WSMessageType(value = WSMessageTypeEnum.COMMON, messageClass = WSMessage.class)
+    static class SecondHandler implements WSMessageHandler {
+        @Override
+        public void handle(WebSocketSession session, WSMessage message) {
+        }
+    }
+}
diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java
index 1a534f7..0754970 100644
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/IInspectionRobotService.java
@@ -3,7 +3,7 @@ package com.cmvr.inspection.service;
 
 import java.util.List;
 
-import cmvr.msgs.Agv;
+import cmvr.msgs.AgvUtils;
 import com.baomidou.mybatisplus.spring.service.IService;
 import com.cmvr.inspection.domain.InspectionRobot;
 import com.cmvr.inspection.domain.vo.InspectionRobotVo;
@@ -104,7 +104,7 @@ public interface IInspectionRobotService extends IService
      * @param robotId 机器人ID
      * @return 机器人位置信息
      */
-    Agv.AgvPose2d getRobotRealtimeLocation(String robotId);
+    AgvUtils.AgvPose2d getRobotRealtimeLocation(String robotId);
 
     /**
      * 导航到指定位置（坐标）
@@ -134,4 +134,4 @@ public interface IInspectionRobotService extends IService
      */
     void stopMapping(String robotId);
 
-}
\ No newline at end of file
+}
diff --git a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java
index 44b2ce2..5aeeaf7 100644
--- a/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java
+++ b/cmvr-iot-inspection/src/main/java/com/cmvr/inspection/service/impl/InspectionRobotServiceImpl.java
@@ -5,7 +5,7 @@ import java.util.Arrays;
 import java.util.List;
 import java.util.UUID;
 
-import cmvr.msgs.Agv;
+import cmvr.msgs.AgvUtils;
 import com.baomidou.mybatisplus.spring.service.impl.ServiceImpl;
 import com.cmvr.common.utils.SecurityUtils;
 import com.cmvr.device.domain.DeDeviceTerminalConfig;
@@ -278,7 +278,7 @@ public class InspectionRobotServiceImpl extends ServiceImpl captured = new AtomicReference<>();
+        Common.JsonDeviceCommand.Feedback feedback = feedback(true, "", "{\"state\":\"ready\"}");
+        EdgeDeviceCommandOperateService service = new EdgeDeviceCommandOperateService(
+                edgeSystemService(captured, feedback));
+
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setAction(ActionEnum.DEVICE_EXECUTE_JSON_COMMAND);
+        message.setTerminalId("terminal-1");
+        message.setInputParams(new JSONObject()
+                .fluentPut("deviceId", "device-1")
+                .fluentPut("requestJson", new JSONObject().fluentPut("command", "reset")));
+
+        TaskNodeExecuteResult result = service.execute(message);
+
+        assertTrue(result.isSuccess());
+        assertEquals("terminal-1", captured.get().getTerminalId());
+        assertEquals("device-1", captured.get().getDeviceId());
+        assertEquals("reset", JSONObject.parseObject(captured.get().getRequestJson()).getString("command"));
+        assertEquals("ready", result.getOutputParams().getJSONObject("responseJson").getString("state"));
+        assertEquals("{\"state\":\"ready\"}", result.getOutputParams().getString("rawResponseJson"));
+    }
+
+    @Test
+    public void usesTerminalIdFromTrialPayload() {
+        AtomicReference captured = new AtomicReference<>();
+        EdgeDeviceCommandOperateService service = new EdgeDeviceCommandOperateService(
+                edgeSystemService(captured, feedback(true, "", "ok")));
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setAction(ActionEnum.DEVICE_EXECUTE_JSON_COMMAND);
+        message.setInputParams(new JSONObject()
+                .fluentPut("terminalId", "trial-terminal")
+                .fluentPut("deviceId", "device-2")
+                .fluentPut("requestJson", "{\"value\":1}"));
+
+        TaskNodeExecuteResult result = service.execute(message);
+
+        assertEquals("trial-terminal", captured.get().getTerminalId());
+        assertEquals("ok", result.getOutputParams().getString("responseJson"));
+    }
+
+    @Test(expected = GlobalException.class)
+    public void rejectsInvalidRequestJson() {
+        EdgeDeviceCommandOperateService service = new EdgeDeviceCommandOperateService(
+                edgeSystemService(new AtomicReference<>(), feedback(true, "", "{}")));
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setTerminalId("terminal-1");
+        message.setInputParams(new JSONObject()
+                .fluentPut("deviceId", "device-1")
+                .fluentPut("requestJson", "{invalid}"));
+
+        service.execute(message);
+    }
+
+    @Test(expected = GlobalException.class)
+    public void propagatesDeviceFailure() {
+        EdgeDeviceCommandOperateService service = new EdgeDeviceCommandOperateService(
+                edgeSystemService(new AtomicReference<>(), feedback(false, "command rejected", "")));
+        TaskNodeExecuteMessage message = new TaskNodeExecuteMessage();
+        message.setTerminalId("terminal-1");
+        message.setInputParams(new JSONObject()
+                .fluentPut("deviceId", "device-1")
+                .fluentPut("requestJson", "{}"));
+
+        service.execute(message);
+    }
+
+    private EdgeSystemService edgeSystemService(AtomicReference captured,
+                                                Common.JsonDeviceCommand.Feedback feedback) {
+        return (EdgeSystemService) Proxy.newProxyInstance(
+                EdgeSystemService.class.getClassLoader(),
+                new Class[]{EdgeSystemService.class},
+                (proxy, method, args) -> {
+                    if ("executeJsonCommand".equals(method.getName())) {
+                        captured.set((EdgeSystemJsonCommandVO) args[0]);
+                        return feedback;
+                    }
+                    throw new UnsupportedOperationException(method.getName());
+                });
+    }
+
+    private Common.JsonDeviceCommand.Feedback feedback(boolean success, String error, String responseJson) {
+        return Common.JsonDeviceCommand.Feedback.newBuilder()
+                .setHeader(Common.CommandHeader.Feedback.newBuilder()
+                        .setSuccess(success)
+                        .setErrorMessage(error))
+                .setResponseJson(responseJson)
+                .build();
+    }
+}