diff --git a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java
index 7ed463a..0353c06 100644
--- a/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java
+++ b/cmvr-iot-admin/src/main/java/com/cmvr/web/controller/api/EdgeHumanoidRobotController.java
@@ -39,4 +39,17 @@ public class EdgeHumanoidRobotController {
     public AjaxResult status(EdgeCommonVO vo) {
         return AjaxResult.ok(edgeHumanoidRobotService.getJointState(vo));
     }
+
+    @ApiOperation("使能开")
+    @GetMapping("/torqueOn")
+    public AjaxResult torqueOn(EdgeCommonVO vo) {
+        return AjaxResult.ok(edgeHumanoidRobotService.torqueOn(vo));
+    }
+
+    @ApiOperation("使能关")
+    @GetMapping("/torqueOff")
+    public AjaxResult torqueOff(EdgeCommonVO vo) {
+        return AjaxResult.ok(edgeHumanoidRobotService.torqueOff(vo));
+    }
+
 }
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeBioHeadService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeBioHeadService.java
index ef3a779..2c5adac 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeBioHeadService.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeBioHeadService.java
@@ -24,4 +24,19 @@ public interface EdgeBioHeadService {
      */
     public String emergencyStop(EdgeCommonVO edgeCommonVO);
 
+    /**
+     * 开始说话
+     */
+    public String speakStart(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 停止说话
+     */
+    public String speakStop(EdgeCommonVO edgeCommonVO);
+
+    /**
+     * 表情
+     */
+    public String specialExpression(String terminalId,String deviceId,Integer expressKey);
+
 }
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHumanoidRobotService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHumanoidRobotService.java
index b5b2629..c8c1847 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHumanoidRobotService.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/EdgeHumanoidRobotService.java
@@ -22,4 +22,14 @@ public interface EdgeHumanoidRobotService {
      * 旋转关节
      */
     public String speedJ(EdgeSpeedJVO vo);
+
+    /**
+     * 使能开
+     */
+    public String torqueOn(EdgeCommonVO vo);
+
+    /**
+     * 使能关
+     */
+    public String torqueOff(EdgeCommonVO vo);
 }
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeBioHeadServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeBioHeadServiceImpl.java
index 5a57ace..82e21b0 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeBioHeadServiceImpl.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeBioHeadServiceImpl.java
@@ -4,6 +4,7 @@ import cmvr.api.BioHeadServiceGrpc;
 import cmvr.api.BioheadCommand;
 import cmvr.api.Common;
 import com.alibaba.fastjson2.JSON;
+import com.cmvr.common.exception.GlobalException;
 import com.cmvr.edge.client.manage.GrpcServiceManager;
 import com.cmvr.edge.client.model.EdgeCommonVO;
 import com.cmvr.edge.client.model.biohead.EdgeFacialExpressionVO;
@@ -138,4 +139,54 @@ public class EdgeBioHeadServiceImpl implements EdgeBioHeadService {
         BioheadCommand.EmergencyStop.Feedback feedback = stub.emergencyStop(request);
         return JSON.toJSONString(feedback.getHeader());
     }
+
+    @Override
+    public String speakStart(EdgeCommonVO edgeCommonVO) {
+        String terminalId = edgeCommonVO.getTerminalId();
+        String deviceId = edgeCommonVO.getDeviceId();
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+
+        // 请求头
+        Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
+        BioheadCommand.SpeakStart.Request request = BioheadCommand.SpeakStart.Request.newBuilder().setHeader(header).build();
+        BioheadCommand.SpeakStart.Feedback feedback = stub.speakStart(request);
+        return JSON.toJSONString(feedback.getHeader());
+    }
+
+    @Override
+    public String speakStop(EdgeCommonVO edgeCommonVO) {
+        String terminalId = edgeCommonVO.getTerminalId();
+        String deviceId = edgeCommonVO.getDeviceId();
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+
+        // 请求头
+        Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
+        BioheadCommand.SpeakStop.Request request = BioheadCommand.SpeakStop.Request.newBuilder().setHeader(header).build();
+        BioheadCommand.SpeakStop.Feedback feedback = stub.speakStop(request);
+        return JSON.toJSONString(feedback.getHeader());
+    }
+
+    @Override
+    public String specialExpression(String terminalId, String deviceId, Integer expressKey) {
+        BioHeadServiceGrpc.BioHeadServiceBlockingStub stub = grpcServiceManager.getGrpcClient(terminalId, BioHeadServiceGrpc.BioHeadServiceBlockingStub.class);
+
+        // 请求头
+        Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(deviceId);
+
+        if (expressKey == 1) {
+            BioheadCommand.Happy.Request happy = BioheadCommand.Happy.Request.newBuilder().setHeader(header).build();
+            BioheadCommand.Happy.Feedback happyBack = stub.happy(happy);
+            return JSON.toJSONString(happyBack.getHeader());
+        }else if (expressKey == 2) {
+            BioheadCommand.Surprise.Request surprise = BioheadCommand.Surprise.Request.newBuilder().setHeader(header).build();
+            BioheadCommand.Surprise.Feedback surpriseBack = stub.surprise(surprise);
+            return JSON.toJSONString(surpriseBack.getHeader());
+        } else if (expressKey == 3) {
+            BioheadCommand.ExpressionTired.Request tired = BioheadCommand.ExpressionTired.Request.newBuilder().setHeader(header).build();
+            BioheadCommand.ExpressionTired.Feedback tiredBack = stub.expressionTired(tired);
+            return JSON.toJSONString(tiredBack.getHeader());
+        }else {
+            throw new GlobalException("错误的传参，1:高兴,2:惊讶,3:疲惫");
+        }
+    }
 }
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java
index 9891484..d614981 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-client/src/main/java/com/cmvr/edge/client/service/impl/EdgeHumanoidRobotServiceImpl.java
@@ -76,4 +76,24 @@ public class EdgeHumanoidRobotServiceImpl implements EdgeHumanoidRobotService {
         HumanoidRobotCommand.SpeedJ.Response response = stub.speedJ(request);
         return JSON.toJSONString(response.getHeader());
     }
+
+    @Override
+    public String torqueOn(EdgeCommonVO vo) {
+        HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
+                grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
+
+        Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
+        Common.CommandHeader.Feedback response = stub.torqueOn(header);
+        return JSON.toJSONString(response);
+    }
+
+    @Override
+    public String torqueOff(EdgeCommonVO vo) {
+        HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub stub =
+                grpcServiceManager.getGrpcClient(vo.getTerminalId(), HumanoidRobotServiceGrpc.HumanoidRobotServiceBlockingStub.class);
+
+        Common.CommandHeader.Request header = EdgeCommonUtil.buildRequest(vo.getDeviceId());
+        Common.CommandHeader.Feedback response = stub.torqueOff(header);
+        return JSON.toJSONString(response);
+    }
 }
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioHeadServiceGrpc.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioHeadServiceGrpc.java
index 0e465bd..456f715 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioHeadServiceGrpc.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioHeadServiceGrpc.java
@@ -142,6 +142,161 @@ public final class BioHeadServiceGrpc {
     return getEmergencyStopMethod;
   }
 
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.SpeakStart.Request,
+      cmvr.api.BioheadCommand.SpeakStart.Feedback> getSpeakStartMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "SpeakStart",
+      requestType = cmvr.api.BioheadCommand.SpeakStart.Request.class,
+      responseType = cmvr.api.BioheadCommand.SpeakStart.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.SpeakStart.Request,
+      cmvr.api.BioheadCommand.SpeakStart.Feedback> getSpeakStartMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.SpeakStart.Request, cmvr.api.BioheadCommand.SpeakStart.Feedback> getSpeakStartMethod;
+    if ((getSpeakStartMethod = BioHeadServiceGrpc.getSpeakStartMethod) == null) {
+      synchronized (BioHeadServiceGrpc.class) {
+        if ((getSpeakStartMethod = BioHeadServiceGrpc.getSpeakStartMethod) == null) {
+          BioHeadServiceGrpc.getSpeakStartMethod = getSpeakStartMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.BioheadCommand.SpeakStart.Request, cmvr.api.BioheadCommand.SpeakStart.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "SpeakStart"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.BioheadCommand.SpeakStart.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.BioheadCommand.SpeakStart.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new BioHeadServiceMethodDescriptorSupplier("SpeakStart"))
+              .build();
+        }
+      }
+    }
+    return getSpeakStartMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.SpeakStop.Request,
+      cmvr.api.BioheadCommand.SpeakStop.Feedback> getSpeakStopMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "SpeakStop",
+      requestType = cmvr.api.BioheadCommand.SpeakStop.Request.class,
+      responseType = cmvr.api.BioheadCommand.SpeakStop.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.SpeakStop.Request,
+      cmvr.api.BioheadCommand.SpeakStop.Feedback> getSpeakStopMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.SpeakStop.Request, cmvr.api.BioheadCommand.SpeakStop.Feedback> getSpeakStopMethod;
+    if ((getSpeakStopMethod = BioHeadServiceGrpc.getSpeakStopMethod) == null) {
+      synchronized (BioHeadServiceGrpc.class) {
+        if ((getSpeakStopMethod = BioHeadServiceGrpc.getSpeakStopMethod) == null) {
+          BioHeadServiceGrpc.getSpeakStopMethod = getSpeakStopMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.BioheadCommand.SpeakStop.Request, cmvr.api.BioheadCommand.SpeakStop.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "SpeakStop"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.BioheadCommand.SpeakStop.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.BioheadCommand.SpeakStop.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new BioHeadServiceMethodDescriptorSupplier("SpeakStop"))
+              .build();
+        }
+      }
+    }
+    return getSpeakStopMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.Happy.Request,
+      cmvr.api.BioheadCommand.Happy.Feedback> getHappyMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "Happy",
+      requestType = cmvr.api.BioheadCommand.Happy.Request.class,
+      responseType = cmvr.api.BioheadCommand.Happy.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.Happy.Request,
+      cmvr.api.BioheadCommand.Happy.Feedback> getHappyMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.Happy.Request, cmvr.api.BioheadCommand.Happy.Feedback> getHappyMethod;
+    if ((getHappyMethod = BioHeadServiceGrpc.getHappyMethod) == null) {
+      synchronized (BioHeadServiceGrpc.class) {
+        if ((getHappyMethod = BioHeadServiceGrpc.getHappyMethod) == null) {
+          BioHeadServiceGrpc.getHappyMethod = getHappyMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.BioheadCommand.Happy.Request, cmvr.api.BioheadCommand.Happy.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "Happy"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.BioheadCommand.Happy.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.BioheadCommand.Happy.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new BioHeadServiceMethodDescriptorSupplier("Happy"))
+              .build();
+        }
+      }
+    }
+    return getHappyMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.Surprise.Request,
+      cmvr.api.BioheadCommand.Surprise.Feedback> getSurpriseMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "Surprise",
+      requestType = cmvr.api.BioheadCommand.Surprise.Request.class,
+      responseType = cmvr.api.BioheadCommand.Surprise.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.Surprise.Request,
+      cmvr.api.BioheadCommand.Surprise.Feedback> getSurpriseMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.Surprise.Request, cmvr.api.BioheadCommand.Surprise.Feedback> getSurpriseMethod;
+    if ((getSurpriseMethod = BioHeadServiceGrpc.getSurpriseMethod) == null) {
+      synchronized (BioHeadServiceGrpc.class) {
+        if ((getSurpriseMethod = BioHeadServiceGrpc.getSurpriseMethod) == null) {
+          BioHeadServiceGrpc.getSurpriseMethod = getSurpriseMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.BioheadCommand.Surprise.Request, cmvr.api.BioheadCommand.Surprise.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "Surprise"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.BioheadCommand.Surprise.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.BioheadCommand.Surprise.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new BioHeadServiceMethodDescriptorSupplier("Surprise"))
+              .build();
+        }
+      }
+    }
+    return getSurpriseMethod;
+  }
+
+  private static volatile io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.ExpressionTired.Request,
+      cmvr.api.BioheadCommand.ExpressionTired.Feedback> getExpressionTiredMethod;
+
+  @io.grpc.stub.annotations.RpcMethod(
+      fullMethodName = SERVICE_NAME + '/' + "ExpressionTired",
+      requestType = cmvr.api.BioheadCommand.ExpressionTired.Request.class,
+      responseType = cmvr.api.BioheadCommand.ExpressionTired.Feedback.class,
+      methodType = io.grpc.MethodDescriptor.MethodType.UNARY)
+  public static io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.ExpressionTired.Request,
+      cmvr.api.BioheadCommand.ExpressionTired.Feedback> getExpressionTiredMethod() {
+    io.grpc.MethodDescriptor<cmvr.api.BioheadCommand.ExpressionTired.Request, cmvr.api.BioheadCommand.ExpressionTired.Feedback> getExpressionTiredMethod;
+    if ((getExpressionTiredMethod = BioHeadServiceGrpc.getExpressionTiredMethod) == null) {
+      synchronized (BioHeadServiceGrpc.class) {
+        if ((getExpressionTiredMethod = BioHeadServiceGrpc.getExpressionTiredMethod) == null) {
+          BioHeadServiceGrpc.getExpressionTiredMethod = getExpressionTiredMethod =
+              io.grpc.MethodDescriptor.<cmvr.api.BioheadCommand.ExpressionTired.Request, cmvr.api.BioheadCommand.ExpressionTired.Feedback>newBuilder()
+              .setType(io.grpc.MethodDescriptor.MethodType.UNARY)
+              .setFullMethodName(generateFullMethodName(SERVICE_NAME, "ExpressionTired"))
+              .setSampledToLocalTracing(true)
+              .setRequestMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.BioheadCommand.ExpressionTired.Request.getDefaultInstance()))
+              .setResponseMarshaller(io.grpc.protobuf.ProtoUtils.marshaller(
+                  cmvr.api.BioheadCommand.ExpressionTired.Feedback.getDefaultInstance()))
+              .setSchemaDescriptor(new BioHeadServiceMethodDescriptorSupplier("ExpressionTired"))
+              .build();
+        }
+      }
+    }
+    return getExpressionTiredMethod;
+  }
+
   /**
    * Creates a new async stub that supports all call types for the service
    */
@@ -230,6 +385,47 @@ public final class BioHeadServiceGrpc {
       io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getEmergencyStopMethod(), responseObserver);
     }
 
+    /**
+     * <pre>
+     * 开始说话
+     * </pre>
+     */
+    public void speakStart(cmvr.api.BioheadCommand.SpeakStart.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.SpeakStart.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeakStartMethod(), responseObserver);
+    }
+
+    /**
+     * <pre>
+     * 停止说话
+     * </pre>
+     */
+    public void speakStop(cmvr.api.BioheadCommand.SpeakStop.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.SpeakStop.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSpeakStopMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void happy(cmvr.api.BioheadCommand.Happy.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.Happy.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getHappyMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void surprise(cmvr.api.BioheadCommand.Surprise.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.Surprise.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getSurpriseMethod(), responseObserver);
+    }
+
+    /**
+     */
+    public void expressionTired(cmvr.api.BioheadCommand.ExpressionTired.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.ExpressionTired.Feedback> responseObserver) {
+      io.grpc.stub.ServerCalls.asyncUnimplementedUnaryCall(getExpressionTiredMethod(), responseObserver);
+    }
+
     @java.lang.Override public final io.grpc.ServerServiceDefinition bindService() {
       return io.grpc.ServerServiceDefinition.builder(getServiceDescriptor())
           .addMethod(
@@ -260,6 +456,41 @@ public final class BioHeadServiceGrpc {
                 cmvr.api.BioheadCommand.EmergencyStop.Request,
                 cmvr.api.BioheadCommand.EmergencyStop.Feedback>(
                   this, METHODID_EMERGENCY_STOP)))
+          .addMethod(
+            getSpeakStartMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.BioheadCommand.SpeakStart.Request,
+                cmvr.api.BioheadCommand.SpeakStart.Feedback>(
+                  this, METHODID_SPEAK_START)))
+          .addMethod(
+            getSpeakStopMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.BioheadCommand.SpeakStop.Request,
+                cmvr.api.BioheadCommand.SpeakStop.Feedback>(
+                  this, METHODID_SPEAK_STOP)))
+          .addMethod(
+            getHappyMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.BioheadCommand.Happy.Request,
+                cmvr.api.BioheadCommand.Happy.Feedback>(
+                  this, METHODID_HAPPY)))
+          .addMethod(
+            getSurpriseMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.BioheadCommand.Surprise.Request,
+                cmvr.api.BioheadCommand.Surprise.Feedback>(
+                  this, METHODID_SURPRISE)))
+          .addMethod(
+            getExpressionTiredMethod(),
+            io.grpc.stub.ServerCalls.asyncUnaryCall(
+              new MethodHandlers<
+                cmvr.api.BioheadCommand.ExpressionTired.Request,
+                cmvr.api.BioheadCommand.ExpressionTired.Feedback>(
+                  this, METHODID_EXPRESSION_TIRED)))
           .build();
     }
   }
@@ -321,6 +552,52 @@ public final class BioHeadServiceGrpc {
       io.grpc.stub.ClientCalls.asyncUnaryCall(
           getChannel().newCall(getEmergencyStopMethod(), getCallOptions()), request, responseObserver);
     }
+
+    /**
+     * <pre>
+     * 开始说话
+     * </pre>
+     */
+    public void speakStart(cmvr.api.BioheadCommand.SpeakStart.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.SpeakStart.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getSpeakStartMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     * <pre>
+     * 停止说话
+     * </pre>
+     */
+    public void speakStop(cmvr.api.BioheadCommand.SpeakStop.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.SpeakStop.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getSpeakStopMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void happy(cmvr.api.BioheadCommand.Happy.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.Happy.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getHappyMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void surprise(cmvr.api.BioheadCommand.Surprise.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.Surprise.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getSurpriseMethod(), getCallOptions()), request, responseObserver);
+    }
+
+    /**
+     */
+    public void expressionTired(cmvr.api.BioheadCommand.ExpressionTired.Request request,
+        io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.ExpressionTired.Feedback> responseObserver) {
+      io.grpc.stub.ClientCalls.asyncUnaryCall(
+          getChannel().newCall(getExpressionTiredMethod(), getCallOptions()), request, responseObserver);
+    }
   }
 
   /**
@@ -369,6 +646,47 @@ public final class BioHeadServiceGrpc {
       return io.grpc.stub.ClientCalls.blockingUnaryCall(
           getChannel(), getEmergencyStopMethod(), getCallOptions(), request);
     }
+
+    /**
+     * <pre>
+     * 开始说话
+     * </pre>
+     */
+    public cmvr.api.BioheadCommand.SpeakStart.Feedback speakStart(cmvr.api.BioheadCommand.SpeakStart.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getSpeakStartMethod(), getCallOptions(), request);
+    }
+
+    /**
+     * <pre>
+     * 停止说话
+     * </pre>
+     */
+    public cmvr.api.BioheadCommand.SpeakStop.Feedback speakStop(cmvr.api.BioheadCommand.SpeakStop.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getSpeakStopMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.BioheadCommand.Happy.Feedback happy(cmvr.api.BioheadCommand.Happy.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getHappyMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.BioheadCommand.Surprise.Feedback surprise(cmvr.api.BioheadCommand.Surprise.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getSurpriseMethod(), getCallOptions(), request);
+    }
+
+    /**
+     */
+    public cmvr.api.BioheadCommand.ExpressionTired.Feedback expressionTired(cmvr.api.BioheadCommand.ExpressionTired.Request request) {
+      return io.grpc.stub.ClientCalls.blockingUnaryCall(
+          getChannel(), getExpressionTiredMethod(), getCallOptions(), request);
+    }
   }
 
   /**
@@ -420,12 +738,63 @@ public final class BioHeadServiceGrpc {
       return io.grpc.stub.ClientCalls.futureUnaryCall(
           getChannel().newCall(getEmergencyStopMethod(), getCallOptions()), request);
     }
+
+    /**
+     * <pre>
+     * 开始说话
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.BioheadCommand.SpeakStart.Feedback> speakStart(
+        cmvr.api.BioheadCommand.SpeakStart.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getSpeakStartMethod(), getCallOptions()), request);
+    }
+
+    /**
+     * <pre>
+     * 停止说话
+     * </pre>
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.BioheadCommand.SpeakStop.Feedback> speakStop(
+        cmvr.api.BioheadCommand.SpeakStop.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getSpeakStopMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.BioheadCommand.Happy.Feedback> happy(
+        cmvr.api.BioheadCommand.Happy.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getHappyMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.BioheadCommand.Surprise.Feedback> surprise(
+        cmvr.api.BioheadCommand.Surprise.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getSurpriseMethod(), getCallOptions()), request);
+    }
+
+    /**
+     */
+    public com.google.common.util.concurrent.ListenableFuture<cmvr.api.BioheadCommand.ExpressionTired.Feedback> expressionTired(
+        cmvr.api.BioheadCommand.ExpressionTired.Request request) {
+      return io.grpc.stub.ClientCalls.futureUnaryCall(
+          getChannel().newCall(getExpressionTiredMethod(), getCallOptions()), request);
+    }
   }
 
   private static final int METHODID_SET_EXPRESSION = 0;
   private static final int METHODID_GET_SYSTEM_STATUS = 1;
   private static final int METHODID_EMERGENCY_STOP = 2;
-  private static final int METHODID_STREAM_EXPRESSION = 3;
+  private static final int METHODID_SPEAK_START = 3;
+  private static final int METHODID_SPEAK_STOP = 4;
+  private static final int METHODID_HAPPY = 5;
+  private static final int METHODID_SURPRISE = 6;
+  private static final int METHODID_EXPRESSION_TIRED = 7;
+  private static final int METHODID_STREAM_EXPRESSION = 8;
 
   private static final class MethodHandlers<Req, Resp> implements
       io.grpc.stub.ServerCalls.UnaryMethod<Req, Resp>,
@@ -456,6 +825,26 @@ public final class BioHeadServiceGrpc {
           serviceImpl.emergencyStop((cmvr.api.BioheadCommand.EmergencyStop.Request) request,
               (io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.EmergencyStop.Feedback>) responseObserver);
           break;
+        case METHODID_SPEAK_START:
+          serviceImpl.speakStart((cmvr.api.BioheadCommand.SpeakStart.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.SpeakStart.Feedback>) responseObserver);
+          break;
+        case METHODID_SPEAK_STOP:
+          serviceImpl.speakStop((cmvr.api.BioheadCommand.SpeakStop.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.SpeakStop.Feedback>) responseObserver);
+          break;
+        case METHODID_HAPPY:
+          serviceImpl.happy((cmvr.api.BioheadCommand.Happy.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.Happy.Feedback>) responseObserver);
+          break;
+        case METHODID_SURPRISE:
+          serviceImpl.surprise((cmvr.api.BioheadCommand.Surprise.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.Surprise.Feedback>) responseObserver);
+          break;
+        case METHODID_EXPRESSION_TIRED:
+          serviceImpl.expressionTired((cmvr.api.BioheadCommand.ExpressionTired.Request) request,
+              (io.grpc.stub.StreamObserver<cmvr.api.BioheadCommand.ExpressionTired.Feedback>) responseObserver);
+          break;
         default:
           throw new AssertionError();
       }
@@ -524,6 +913,11 @@ public final class BioHeadServiceGrpc {
               .addMethod(getStreamExpressionMethod())
               .addMethod(getGetSystemStatusMethod())
               .addMethod(getEmergencyStopMethod())
+              .addMethod(getSpeakStartMethod())
+              .addMethod(getSpeakStopMethod())
+              .addMethod(getHappyMethod())
+              .addMethod(getSurpriseMethod())
+              .addMethod(getExpressionTiredMethod())
               .build();
         }
       }
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioheadCommand.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioheadCommand.java
index d0452a9..0bca394 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioheadCommand.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioheadCommand.java
@@ -17739,6 +17739,8472 @@ public final class BioheadCommand {
 
   }
 
+  public interface SpeakStartOrBuilder extends
+      // @@protoc_insertion_point(interface_extends:cmvr.api.SpeakStart)
+      com.google.protobuf.MessageOrBuilder {
+  }
+  /**
+   * Protobuf type {@code cmvr.api.SpeakStart}
+   */
+  public static final class SpeakStart extends
+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.SpeakStart)
+      SpeakStartOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use SpeakStart.newBuilder() to construct.
+    private SpeakStart(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
+      super(builder);
+    }
+    private SpeakStart() {
+    }
+
+    @java.lang.Override
+    @SuppressWarnings({"unused"})
+    protected java.lang.Object newInstance(
+        UnusedPrivateParameter unused) {
+      return new SpeakStart();
+    }
+
+    @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.BioheadCommand.internal_static_cmvr_api_SpeakStart_descriptor;
+    }
+
+    @java.lang.Override
+    protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+        internalGetFieldAccessorTable() {
+      return cmvr.api.BioheadCommand.internal_static_cmvr_api_SpeakStart_fieldAccessorTable
+          .ensureFieldAccessorsInitialized(
+              cmvr.api.BioheadCommand.SpeakStart.class, cmvr.api.BioheadCommand.SpeakStart.Builder.class);
+    }
+
+    public interface RequestOrBuilder extends
+        // @@protoc_insertion_point(interface_extends:cmvr.api.SpeakStart.Request)
+        com.google.protobuf.MessageOrBuilder {
+
+      /**
+       * <pre>
+       * 通用命令头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       * @return Whether the header field is set.
+       */
+      boolean hasHeader();
+      /**
+       * <pre>
+       * 通用命令头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       * @return The header.
+       */
+      cmvr.api.Common.CommandHeader.Request getHeader();
+      /**
+       * <pre>
+       * 通用命令头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       */
+      cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder();
+    }
+    /**
+     * Protobuf type {@code cmvr.api.SpeakStart.Request}
+     */
+    public static final class Request extends
+        com.google.protobuf.GeneratedMessageV3 implements
+        // @@protoc_insertion_point(message_implements:cmvr.api.SpeakStart.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() {
+      }
+
+      @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.BioheadCommand.internal_static_cmvr_api_SpeakStart_Request_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
+        return cmvr.api.BioheadCommand.internal_static_cmvr_api_SpeakStart_Request_fieldAccessorTable
+            .ensureFieldAccessorsInitialized(
+                cmvr.api.BioheadCommand.SpeakStart.Request.class, cmvr.api.BioheadCommand.SpeakStart.Request.Builder.class);
+      }
+
+      public static final int HEADER_FIELD_NUMBER = 1;
+      private cmvr.api.Common.CommandHeader.Request header_;
+      /**
+       * <pre>
+       * 通用命令头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       * @return Whether the header field is set.
+       */
+      @java.lang.Override
+      public boolean hasHeader() {
+        return header_ != null;
+      }
+      /**
+       * <pre>
+       * 通用命令头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       * @return The header.
+       */
+      @java.lang.Override
+      public cmvr.api.Common.CommandHeader.Request getHeader() {
+        return header_ == null ? cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+      }
+      /**
+       * <pre>
+       * 通用命令头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       */
+      @java.lang.Override
+      public cmvr.api.Common.CommandHeader.RequestOrBuilder 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;
+
+        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());
+        }
+        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.BioheadCommand.SpeakStart.Request)) {
+          return super.equals(obj);
+        }
+        cmvr.api.BioheadCommand.SpeakStart.Request other = (cmvr.api.BioheadCommand.SpeakStart.Request) 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.BioheadCommand.SpeakStart.Request parseFrom(
+          java.nio.ByteBuffer data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.BioheadCommand.SpeakStart.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.BioheadCommand.SpeakStart.Request parseFrom(
+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.BioheadCommand.SpeakStart.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.BioheadCommand.SpeakStart.Request parseFrom(byte[] data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.BioheadCommand.SpeakStart.Request parseFrom(
+          byte[] data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
+      }
+      public static cmvr.api.BioheadCommand.SpeakStart.Request parseFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
+      }
+      public static cmvr.api.BioheadCommand.SpeakStart.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.BioheadCommand.SpeakStart.Request parseDelimitedFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseDelimitedWithIOException(PARSER, input);
+      }
+      public static cmvr.api.BioheadCommand.SpeakStart.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.BioheadCommand.SpeakStart.Request parseFrom(
+          com.google.protobuf.CodedInputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
+      }
+      public static cmvr.api.BioheadCommand.SpeakStart.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.BioheadCommand.SpeakStart.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.SpeakStart.Request}
+       */
+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+          // @@protoc_insertion_point(builder_implements:cmvr.api.SpeakStart.Request)
+          cmvr.api.BioheadCommand.SpeakStart.RequestOrBuilder {
+        public static final com.google.protobuf.Descriptors.Descriptor
+            getDescriptor() {
+          return cmvr.api.BioheadCommand.internal_static_cmvr_api_SpeakStart_Request_descriptor;
+        }
+
+        @java.lang.Override
+        protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+            internalGetFieldAccessorTable() {
+          return cmvr.api.BioheadCommand.internal_static_cmvr_api_SpeakStart_Request_fieldAccessorTable
+              .ensureFieldAccessorsInitialized(
+                  cmvr.api.BioheadCommand.SpeakStart.Request.class, cmvr.api.BioheadCommand.SpeakStart.Request.Builder.class);
+        }
+
+        // Construct using cmvr.api.BioheadCommand.SpeakStart.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;
+          }
+          return this;
+        }
+
+        @java.lang.Override
+        public com.google.protobuf.Descriptors.Descriptor
+            getDescriptorForType() {
+          return cmvr.api.BioheadCommand.internal_static_cmvr_api_SpeakStart_Request_descriptor;
+        }
+
+        @java.lang.Override
+        public cmvr.api.BioheadCommand.SpeakStart.Request getDefaultInstanceForType() {
+          return cmvr.api.BioheadCommand.SpeakStart.Request.getDefaultInstance();
+        }
+
+        @java.lang.Override
+        public cmvr.api.BioheadCommand.SpeakStart.Request build() {
+          cmvr.api.BioheadCommand.SpeakStart.Request result = buildPartial();
+          if (!result.isInitialized()) {
+            throw newUninitializedMessageException(result);
+          }
+          return result;
+        }
+
+        @java.lang.Override
+        public cmvr.api.BioheadCommand.SpeakStart.Request buildPartial() {
+          cmvr.api.BioheadCommand.SpeakStart.Request result = new cmvr.api.BioheadCommand.SpeakStart.Request(this);
+          if (headerBuilder_ == null) {
+            result.header_ = header_;
+          } else {
+            result.header_ = headerBuilder_.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) {
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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
+        public Builder mergeFrom(com.google.protobuf.Message other) {
+          if (other instanceof cmvr.api.BioheadCommand.SpeakStart.Request) {
+            return mergeFrom((cmvr.api.BioheadCommand.SpeakStart.Request)other);
+          } else {
+            super.mergeFrom(other);
+            return this;
+          }
+        }
+
+        public Builder mergeFrom(cmvr.api.BioheadCommand.SpeakStart.Request other) {
+          if (other == cmvr.api.BioheadCommand.SpeakStart.Request.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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+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Request, cmvr.api.Common.CommandHeader.Request.Builder, cmvr.api.Common.CommandHeader.RequestOrBuilder> headerBuilder_;
+        /**
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+         * 通用命令头
+         * </pre>
+         *
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+         * 通用命令头
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+          return this;
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+        /**
+         * <pre>
+         * 通用命令头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+         */
+        public Builder setHeader(
+            cmvr.api.Common.CommandHeader.Request.Builder builderForValue) {
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+         * 通用命令头
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+         *
+         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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+        public Builder mergeHeader(cmvr.api.Common.CommandHeader.Request value) {
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+            onChanged();
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+          return this;
+        }
+        /**
+         * <pre>
+         * 通用命令头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+         */
+        public Builder clearHeader() {
+          if (headerBuilder_ == null) {
+            header_ = null;
+            onChanged();
+          } else {
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+
+          return this;
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+        /**
+         * <pre>
+         * 通用命令头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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+         * <pre>
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+         */
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+         * <pre>
+         * 通用命令头
+         * </pre>
+         *
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+        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>(
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+                    isClean());
+            header_ = null;
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+        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.SpeakStart.Request)
+      }
+
+      // @@protoc_insertion_point(class_scope:cmvr.api.SpeakStart.Request)
+      private static final cmvr.api.BioheadCommand.SpeakStart.Request DEFAULT_INSTANCE;
+      static {
+        DEFAULT_INSTANCE = new cmvr.api.BioheadCommand.SpeakStart.Request();
+      }
+
+      public static cmvr.api.BioheadCommand.SpeakStart.Request getDefaultInstance() {
+        return DEFAULT_INSTANCE;
+      }
+
+      private static final com.google.protobuf.Parser<Request>
+          PARSER = new com.google.protobuf.AbstractParser<Request>() {
+        @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());
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+          return builder.buildPartial();
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+
+      public static com.google.protobuf.Parser<Request> parser() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Parser<Request> getParserForType() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public cmvr.api.BioheadCommand.SpeakStart.Request getDefaultInstanceForType() {
+        return DEFAULT_INSTANCE;
+      }
+
+    }
+
+    public interface FeedbackOrBuilder extends
+        // @@protoc_insertion_point(interface_extends:cmvr.api.SpeakStart.Feedback)
+        com.google.protobuf.MessageOrBuilder {
+
+      /**
+       * <pre>
+       * 通用反馈头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       * @return Whether the header field is set.
+       */
+      boolean hasHeader();
+      /**
+       * <pre>
+       * 通用反馈头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       * @return The header.
+       */
+      cmvr.api.Common.CommandHeader.Feedback getHeader();
+      /**
+       * <pre>
+       * 通用反馈头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       */
+      cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
+    }
+    /**
+     * Protobuf type {@code cmvr.api.SpeakStart.Feedback}
+     */
+    public static final class Feedback extends
+        com.google.protobuf.GeneratedMessageV3 implements
+        // @@protoc_insertion_point(message_implements:cmvr.api.SpeakStart.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() {
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+
+      @java.lang.Override
+      @SuppressWarnings({"unused"})
+      protected java.lang.Object newInstance(
+          UnusedPrivateParameter unused) {
+        return new Feedback();
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+
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+      public final com.google.protobuf.UnknownFieldSet
+      getUnknownFields() {
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+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
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+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+          internalGetFieldAccessorTable() {
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+      public static final int HEADER_FIELD_NUMBER = 1;
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+      /**
+       * <pre>
+       * 通用反馈头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       * @return Whether the header field is set.
+       */
+      @java.lang.Override
+      public boolean hasHeader() {
+        return header_ != null;
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+       * <pre>
+       * 通用反馈头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       * @return The header.
+       */
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+      public cmvr.api.Common.CommandHeader.Feedback getHeader() {
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+       * <pre>
+       * 通用反馈头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       */
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+      public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
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+          java.nio.ByteBuffer data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.BioheadCommand.SpeakStart.Feedback 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.BioheadCommand.SpeakStart.Feedback parseFrom(
+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.BioheadCommand.SpeakStart.Feedback 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.BioheadCommand.SpeakStart.Feedback parseFrom(byte[] data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.BioheadCommand.SpeakStart.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 {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
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+      public static cmvr.api.BioheadCommand.SpeakStart.Feedback 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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+      public static cmvr.api.BioheadCommand.SpeakStart.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.BioheadCommand.SpeakStart.Feedback 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.BioheadCommand.SpeakStart.Feedback parseFrom(
+          com.google.protobuf.CodedInputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
+      }
+      public static cmvr.api.BioheadCommand.SpeakStart.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.BioheadCommand.SpeakStart.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.SpeakStart.Feedback}
+       */
+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+          // @@protoc_insertion_point(builder_implements:cmvr.api.SpeakStart.Feedback)
+          cmvr.api.BioheadCommand.SpeakStart.FeedbackOrBuilder {
+        public static final com.google.protobuf.Descriptors.Descriptor
+            getDescriptor() {
+          return cmvr.api.BioheadCommand.internal_static_cmvr_api_SpeakStart_Feedback_descriptor;
+        }
+
+        @java.lang.Override
+        protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+            internalGetFieldAccessorTable() {
+          return cmvr.api.BioheadCommand.internal_static_cmvr_api_SpeakStart_Feedback_fieldAccessorTable
+              .ensureFieldAccessorsInitialized(
+                  cmvr.api.BioheadCommand.SpeakStart.Feedback.class, cmvr.api.BioheadCommand.SpeakStart.Feedback.Builder.class);
+        }
+
+        // Construct using cmvr.api.BioheadCommand.SpeakStart.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;
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+
+        @java.lang.Override
+        public com.google.protobuf.Descriptors.Descriptor
+            getDescriptorForType() {
+          return cmvr.api.BioheadCommand.internal_static_cmvr_api_SpeakStart_Feedback_descriptor;
+        }
+
+        @java.lang.Override
+        public cmvr.api.BioheadCommand.SpeakStart.Feedback getDefaultInstanceForType() {
+          return cmvr.api.BioheadCommand.SpeakStart.Feedback.getDefaultInstance();
+        }
+
+        @java.lang.Override
+        public cmvr.api.BioheadCommand.SpeakStart.Feedback build() {
+          cmvr.api.BioheadCommand.SpeakStart.Feedback result = buildPartial();
+          if (!result.isInitialized()) {
+            throw newUninitializedMessageException(result);
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+          return result;
+        }
+
+        @java.lang.Override
+        public cmvr.api.BioheadCommand.SpeakStart.Feedback buildPartial() {
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+          if (headerBuilder_ == null) {
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+          onBuilt();
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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);
+        }
+        @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.BioheadCommand.SpeakStart.Feedback) {
+            return mergeFrom((cmvr.api.BioheadCommand.SpeakStart.Feedback)other);
+          } else {
+            super.mergeFrom(other);
+            return this;
+          }
+        }
+
+        public Builder mergeFrom(cmvr.api.BioheadCommand.SpeakStart.Feedback other) {
+          if (other == cmvr.api.BioheadCommand.SpeakStart.Feedback.getDefaultInstance()) return this;
+          if (other.hasHeader()) {
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+          onChanged();
+          return this;
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+
+        @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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+                case 10: {
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+                  break;
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+            } // while (!done)
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+            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_;
+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         * @return Whether the header field is set.
+         */
+        public boolean hasHeader() {
+          return headerBuilder_ != null || header_ != null;
+        }
+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         * @return The header.
+         */
+        public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+          if (headerBuilder_ == null) {
+            return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
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+        public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
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+
+          return this;
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+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder setHeader(
+            cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
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+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
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+        public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
+          if (headerBuilder_ == null) {
+            if (header_ != null) {
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+                cmvr.api.Common.CommandHeader.Feedback.newBuilder(header_).mergeFrom(value).buildPartial();
+            } else {
+              header_ = value;
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+            onChanged();
+          } else {
+            headerBuilder_.mergeFrom(value);
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+
+          return this;
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+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder clearHeader() {
+          if (headerBuilder_ == null) {
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+            onChanged();
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+            headerBuilder_ = null;
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+
+          return this;
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+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
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+          onChanged();
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+         * 通用反馈头
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+        @java.lang.Override
+        public Feedback parsePartialFrom(
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+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+            throws com.google.protobuf.InvalidProtocolBufferException {
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+          try {
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+        return PARSER;
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+      public com.google.protobuf.Parser<Feedback> getParserForType() {
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+      @java.lang.Override
+      public cmvr.api.BioheadCommand.SpeakStart.Feedback getDefaultInstanceForType() {
+        return DEFAULT_INSTANCE;
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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 {
+      return PARSER.parseFrom(data);
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+    public static cmvr.api.BioheadCommand.SpeakStart 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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+    public static cmvr.api.BioheadCommand.SpeakStart parseFrom(
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+        throws java.io.IOException {
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+        com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+      return com.google.protobuf.GeneratedMessageV3
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+    public Builder toBuilder() {
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+        // @@protoc_insertion_point(builder_implements:cmvr.api.SpeakStart)
+        cmvr.api.BioheadCommand.SpeakStartOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
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+      private Builder(
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+      @java.lang.Override
+      public Builder clear() {
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+      public com.google.protobuf.Descriptors.Descriptor
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+        if (!result.isInitialized()) {
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+        return result;
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+      @java.lang.Override
+      public cmvr.api.BioheadCommand.SpeakStart buildPartial() {
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+        onBuilt();
+        return result;
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+      @java.lang.Override
+      public Builder clone() {
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+      public Builder setField(
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+          java.lang.Object value) {
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+      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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+      public Builder setRepeatedField(
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+          com.google.protobuf.Descriptors.FieldDescriptor field,
+          java.lang.Object value) {
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+      @java.lang.Override
+      public Builder mergeFrom(com.google.protobuf.Message other) {
+        if (other instanceof cmvr.api.BioheadCommand.SpeakStart) {
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+        onChanged();
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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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+      @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(
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+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.SpeakStart)
+    private static final cmvr.api.BioheadCommand.SpeakStart DEFAULT_INSTANCE;
+    static {
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+      public SpeakStart parsePartialFrom(
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+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        Builder builder = newBuilder();
+        try {
+          builder.mergeFrom(input, extensionRegistry);
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+    public static com.google.protobuf.Parser<SpeakStart> parser() {
+      return PARSER;
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+    @java.lang.Override
+    public com.google.protobuf.Parser<SpeakStart> getParserForType() {
+      return PARSER;
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+
+    @java.lang.Override
+    public cmvr.api.BioheadCommand.SpeakStart getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
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+      // @@protoc_insertion_point(interface_extends:cmvr.api.SpeakStop)
+      com.google.protobuf.MessageOrBuilder {
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+  /**
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+   */
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+      com.google.protobuf.GeneratedMessageV3 implements
+      // @@protoc_insertion_point(message_implements:cmvr.api.SpeakStop)
+      SpeakStopOrBuilder {
+  private static final long serialVersionUID = 0L;
+    // Use SpeakStop.newBuilder() to construct.
+    private SpeakStop(com.google.protobuf.GeneratedMessageV3.Builder<?> builder) {
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+    @java.lang.Override
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+        // @@protoc_insertion_point(interface_extends:cmvr.api.SpeakStop.Request)
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+      /**
+       * <pre>
+       * 通用命令头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+       * @return Whether the header field is set.
+       */
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+      /**
+       * <pre>
+       * 通用命令头
+       * </pre>
+       *
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+       * @return The header.
+       */
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+      /**
+       * <pre>
+       * 通用命令头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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+      cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder();
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+        com.google.protobuf.GeneratedMessageV3 implements
+        // @@protoc_insertion_point(message_implements:cmvr.api.SpeakStop.Request)
+        RequestOrBuilder {
+    private static final long serialVersionUID = 0L;
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+          com.google.protobuf.ByteString data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+        public Builder mergeFrom(
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+            com.google.protobuf.ExtensionRegistryLite extensionRegistry)
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+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         * @return Whether the header field is set.
+         */
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+         * <pre>
+         * 通用反馈头
+         * </pre>
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+         * 通用反馈头
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+        public Builder setHeader(cmvr.api.Common.CommandHeader.Feedback value) {
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+
+          return this;
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+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
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+          return this;
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+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
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+        public Builder mergeHeader(cmvr.api.Common.CommandHeader.Feedback value) {
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+            onChanged();
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+
+          return this;
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+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
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+        public Builder clearHeader() {
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+            onChanged();
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+          return this;
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+         * <pre>
+         * 通用反馈头
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+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
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+         * 通用反馈头
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+         * 通用反馈头
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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 {
+      return PARSER.parseFrom(data);
+    }
+    public static cmvr.api.BioheadCommand.SpeakStop 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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+          .parseDelimitedWithIOException(PARSER, input);
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+        throws java.io.IOException {
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+        throws java.io.IOException {
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+    public Builder newBuilderForType() { return newBuilder(); }
+    public static Builder newBuilder() {
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+    public static Builder newBuilder(cmvr.api.BioheadCommand.SpeakStop prototype) {
+      return DEFAULT_INSTANCE.toBuilder().mergeFrom(prototype);
+    }
+    @java.lang.Override
+    public Builder toBuilder() {
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+    protected Builder newBuilderForType(
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+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
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+      private Builder() {
+
+      }
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+      private Builder(
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+        super(parent);
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+      }
+      @java.lang.Override
+      public Builder clear() {
+        super.clear();
+        return this;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Descriptors.Descriptor
+          getDescriptorForType() {
+        return cmvr.api.BioheadCommand.internal_static_cmvr_api_SpeakStop_descriptor;
+      }
+
+      @java.lang.Override
+      public cmvr.api.BioheadCommand.SpeakStop getDefaultInstanceForType() {
+        return cmvr.api.BioheadCommand.SpeakStop.getDefaultInstance();
+      }
+
+      @java.lang.Override
+      public cmvr.api.BioheadCommand.SpeakStop build() {
+        cmvr.api.BioheadCommand.SpeakStop result = buildPartial();
+        if (!result.isInitialized()) {
+          throw newUninitializedMessageException(result);
+        }
+        return result;
+      }
+
+      @java.lang.Override
+      public cmvr.api.BioheadCommand.SpeakStop buildPartial() {
+        cmvr.api.BioheadCommand.SpeakStop result = new cmvr.api.BioheadCommand.SpeakStop(this);
+        onBuilt();
+        return result;
+      }
+
+      @java.lang.Override
+      public Builder clone() {
+        return super.clone();
+      }
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+          // @@protoc_insertion_point(builder_implements:cmvr.api.Happy.Request)
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+          return this;
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+        /**
+         * <pre>
+         * 通用命令头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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+        public Builder setHeader(
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+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+         */
+        public Builder clearHeader() {
+          if (headerBuilder_ == null) {
+            header_ = null;
+            onChanged();
+          } else {
+            header_ = null;
+            headerBuilder_ = null;
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+
+          return this;
+        }
+        /**
+         * <pre>
+         * 通用命令头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+         */
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+         * <pre>
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+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
+         */
+        public cmvr.api.Common.CommandHeader.RequestOrBuilder getHeaderOrBuilder() {
+          if (headerBuilder_ != null) {
+            return headerBuilder_.getMessageOrBuilder();
+          } else {
+            return header_ == null ?
+                cmvr.api.Common.CommandHeader.Request.getDefaultInstance() : header_;
+          }
+        }
+        /**
+         * <pre>
+         * 通用命令头
+         * </pre>
+         *
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+         */
+        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>(
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+                    isClean());
+            header_ = null;
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+        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.Happy.Request)
+      }
+
+      // @@protoc_insertion_point(class_scope:cmvr.api.Happy.Request)
+      private static final cmvr.api.BioheadCommand.Happy.Request DEFAULT_INSTANCE;
+      static {
+        DEFAULT_INSTANCE = new cmvr.api.BioheadCommand.Happy.Request();
+      }
+
+      public static cmvr.api.BioheadCommand.Happy.Request getDefaultInstance() {
+        return DEFAULT_INSTANCE;
+      }
+
+      private static final com.google.protobuf.Parser<Request>
+          PARSER = new com.google.protobuf.AbstractParser<Request>() {
+        @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());
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+          return builder.buildPartial();
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+
+      public static com.google.protobuf.Parser<Request> parser() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public com.google.protobuf.Parser<Request> getParserForType() {
+        return PARSER;
+      }
+
+      @java.lang.Override
+      public cmvr.api.BioheadCommand.Happy.Request getDefaultInstanceForType() {
+        return DEFAULT_INSTANCE;
+      }
+
+    }
+
+    public interface FeedbackOrBuilder extends
+        // @@protoc_insertion_point(interface_extends:cmvr.api.Happy.Feedback)
+        com.google.protobuf.MessageOrBuilder {
+
+      /**
+       * <pre>
+       * 通用反馈头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       * @return Whether the header field is set.
+       */
+      boolean hasHeader();
+      /**
+       * <pre>
+       * 通用反馈头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       * @return The header.
+       */
+      cmvr.api.Common.CommandHeader.Feedback getHeader();
+      /**
+       * <pre>
+       * 通用反馈头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       */
+      cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder();
+    }
+    /**
+     * Protobuf type {@code cmvr.api.Happy.Feedback}
+     */
+    public static final class Feedback extends
+        com.google.protobuf.GeneratedMessageV3 implements
+        // @@protoc_insertion_point(message_implements:cmvr.api.Happy.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() {
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+      }
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
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+      }
+
+      @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_;
+      /**
+       * <pre>
+       * 通用反馈头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       * @return Whether the header field is set.
+       */
+      @java.lang.Override
+      public boolean hasHeader() {
+        return header_ != null;
+      }
+      /**
+       * <pre>
+       * 通用反馈头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       * @return The header.
+       */
+      @java.lang.Override
+      public cmvr.api.Common.CommandHeader.Feedback getHeader() {
+        return header_ == null ? cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+      }
+      /**
+       * <pre>
+       * 通用反馈头
+       * </pre>
+       *
+       * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+       */
+      @java.lang.Override
+      public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+        return getHeader();
+      }
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+      @java.lang.Override
+      public void writeTo(com.google.protobuf.CodedOutputStream output)
+                          throws java.io.IOException {
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+      @java.lang.Override
+      public int getSerializedSize() {
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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.BioheadCommand.Happy.Feedback)) {
+          return super.equals(obj);
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+        cmvr.api.BioheadCommand.Happy.Feedback other = (cmvr.api.BioheadCommand.Happy.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() {
+        if (memoizedHashCode != 0) {
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+        int hash = 41;
+        hash = (19 * hash) + getDescriptor().hashCode();
+        if (hasHeader()) {
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+      public static cmvr.api.BioheadCommand.Happy.Feedback parseFrom(
+          java.nio.ByteBuffer data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.BioheadCommand.Happy.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.BioheadCommand.Happy.Feedback parseFrom(
+          com.google.protobuf.ByteString data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.BioheadCommand.Happy.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.BioheadCommand.Happy.Feedback parseFrom(byte[] data)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data);
+      }
+      public static cmvr.api.BioheadCommand.Happy.Feedback parseFrom(
+          byte[] data,
+          com.google.protobuf.ExtensionRegistryLite extensionRegistry)
+          throws com.google.protobuf.InvalidProtocolBufferException {
+        return PARSER.parseFrom(data, extensionRegistry);
+      }
+      public static cmvr.api.BioheadCommand.Happy.Feedback parseFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
+      }
+      public static cmvr.api.BioheadCommand.Happy.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.BioheadCommand.Happy.Feedback parseDelimitedFrom(java.io.InputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseDelimitedWithIOException(PARSER, input);
+      }
+      public static cmvr.api.BioheadCommand.Happy.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.BioheadCommand.Happy.Feedback parseFrom(
+          com.google.protobuf.CodedInputStream input)
+          throws java.io.IOException {
+        return com.google.protobuf.GeneratedMessageV3
+            .parseWithIOException(PARSER, input);
+      }
+      public static cmvr.api.BioheadCommand.Happy.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.BioheadCommand.Happy.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.Happy.Feedback}
+       */
+      public static final class Builder extends
+          com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+          // @@protoc_insertion_point(builder_implements:cmvr.api.Happy.Feedback)
+          cmvr.api.BioheadCommand.Happy.FeedbackOrBuilder {
+        public static final com.google.protobuf.Descriptors.Descriptor
+            getDescriptor() {
+          return cmvr.api.BioheadCommand.internal_static_cmvr_api_Happy_Feedback_descriptor;
+        }
+
+        @java.lang.Override
+        protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+            internalGetFieldAccessorTable() {
+          return cmvr.api.BioheadCommand.internal_static_cmvr_api_Happy_Feedback_fieldAccessorTable
+              .ensureFieldAccessorsInitialized(
+                  cmvr.api.BioheadCommand.Happy.Feedback.class, cmvr.api.BioheadCommand.Happy.Feedback.Builder.class);
+        }
+
+        // Construct using cmvr.api.BioheadCommand.Happy.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.BioheadCommand.internal_static_cmvr_api_Happy_Feedback_descriptor;
+        }
+
+        @java.lang.Override
+        public cmvr.api.BioheadCommand.Happy.Feedback getDefaultInstanceForType() {
+          return cmvr.api.BioheadCommand.Happy.Feedback.getDefaultInstance();
+        }
+
+        @java.lang.Override
+        public cmvr.api.BioheadCommand.Happy.Feedback build() {
+          cmvr.api.BioheadCommand.Happy.Feedback result = buildPartial();
+          if (!result.isInitialized()) {
+            throw newUninitializedMessageException(result);
+          }
+          return result;
+        }
+
+        @java.lang.Override
+        public cmvr.api.BioheadCommand.Happy.Feedback buildPartial() {
+          cmvr.api.BioheadCommand.Happy.Feedback result = new cmvr.api.BioheadCommand.Happy.Feedback(this);
+          if (headerBuilder_ == 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(
+            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);
+        }
+        @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.BioheadCommand.Happy.Feedback) {
+            return mergeFrom((cmvr.api.BioheadCommand.Happy.Feedback)other);
+          } else {
+            super.mergeFrom(other);
+            return this;
+          }
+        }
+
+        public Builder mergeFrom(cmvr.api.BioheadCommand.Happy.Feedback other) {
+          if (other == cmvr.api.BioheadCommand.Happy.Feedback.getDefaultInstance()) return this;
+          if (other.hasHeader()) {
+            mergeHeader(other.getHeader());
+          }
+          this.mergeUnknownFields(other.getUnknownFields());
+          onChanged();
+          return this;
+        }
+
+        @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();
+          }
+          try {
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+            while (!done) {
+              int tag = input.readTag();
+              switch (tag) {
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+                  done = true;
+                  break;
+                case 10: {
+                  input.readMessage(
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+                      extensionRegistry);
+
+                  break;
+                } // case 10
+                default: {
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+            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_;
+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         * @return Whether the header field is set.
+         */
+        public boolean hasHeader() {
+          return headerBuilder_ != null || header_ != null;
+        }
+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         * @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();
+          }
+        }
+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        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;
+        }
+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder setHeader(
+            cmvr.api.Common.CommandHeader.Feedback.Builder builderForValue) {
+          if (headerBuilder_ == null) {
+            header_ = builderForValue.build();
+            onChanged();
+          } else {
+            headerBuilder_.setMessage(builderForValue.build());
+          }
+
+          return this;
+        }
+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        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;
+        }
+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public Builder clearHeader() {
+          if (headerBuilder_ == null) {
+            header_ = null;
+            onChanged();
+          } else {
+            header_ = null;
+            headerBuilder_ = null;
+          }
+
+          return this;
+        }
+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public cmvr.api.Common.CommandHeader.Feedback.Builder getHeaderBuilder() {
+          
+          onChanged();
+          return getHeaderFieldBuilder().getBuilder();
+        }
+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        public cmvr.api.Common.CommandHeader.FeedbackOrBuilder getHeaderOrBuilder() {
+          if (headerBuilder_ != null) {
+            return headerBuilder_.getMessageOrBuilder();
+          } else {
+            return header_ == null ?
+                cmvr.api.Common.CommandHeader.Feedback.getDefaultInstance() : header_;
+          }
+        }
+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
+         */
+        private com.google.protobuf.SingleFieldBuilderV3<
+            cmvr.api.Common.CommandHeader.Feedback, cmvr.api.Common.CommandHeader.Feedback.Builder, cmvr.api.Common.CommandHeader.FeedbackOrBuilder> 
+            getHeaderFieldBuilder() {
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+                    getHeader(),
+                    getParentForChildren(),
+                    isClean());
+            header_ = null;
+          }
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+         * 通用命令头
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+         *
+         * <code>.cmvr.api.CommandHeader.Request header = 1;</code>
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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(); }
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+      public Builder toBuilder() {
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+        /**
+         * <pre>
+         * 通用反馈头
+         * </pre>
+         *
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+         * 通用反馈头
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+         * 通用反馈头
+         * </pre>
+         *
+         * <code>.cmvr.api.CommandHeader.Feedback header = 1;</code>
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+         * 通用反馈头
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+         * 通用反馈头
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+      @java.lang.Override
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+        return com.google.protobuf.GeneratedMessageV3
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+      /**
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+    public static Builder newBuilder(cmvr.api.BioheadCommand.ExpressionTired 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.ExpressionTired}
+     */
+    public static final class Builder extends
+        com.google.protobuf.GeneratedMessageV3.Builder<Builder> implements
+        // @@protoc_insertion_point(builder_implements:cmvr.api.ExpressionTired)
+        cmvr.api.BioheadCommand.ExpressionTiredOrBuilder {
+      public static final com.google.protobuf.Descriptors.Descriptor
+          getDescriptor() {
+        return cmvr.api.BioheadCommand.internal_static_cmvr_api_ExpressionTired_descriptor;
+      }
+
+      @java.lang.Override
+      protected com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
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+      private Builder() {
+
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+      public com.google.protobuf.Descriptors.Descriptor
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+      public cmvr.api.BioheadCommand.ExpressionTired build() {
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+        if (!result.isInitialized()) {
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+        return result;
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+      @java.lang.Override
+      public cmvr.api.BioheadCommand.ExpressionTired buildPartial() {
+        cmvr.api.BioheadCommand.ExpressionTired result = new cmvr.api.BioheadCommand.ExpressionTired(this);
+        onBuilt();
+        return result;
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+      @java.lang.Override
+      public Builder clone() {
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+        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) {
+        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.BioheadCommand.ExpressionTired) {
+          return mergeFrom((cmvr.api.BioheadCommand.ExpressionTired)other);
+        } else {
+          super.mergeFrom(other);
+          return this;
+        }
+      }
+
+      public Builder mergeFrom(cmvr.api.BioheadCommand.ExpressionTired other) {
+        if (other == cmvr.api.BioheadCommand.ExpressionTired.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) {
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+                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.ExpressionTired)
+    }
+
+    // @@protoc_insertion_point(class_scope:cmvr.api.ExpressionTired)
+    private static final cmvr.api.BioheadCommand.ExpressionTired DEFAULT_INSTANCE;
+    static {
+      DEFAULT_INSTANCE = new cmvr.api.BioheadCommand.ExpressionTired();
+    }
+
+    public static cmvr.api.BioheadCommand.ExpressionTired getDefaultInstance() {
+      return DEFAULT_INSTANCE;
+    }
+
+    private static final com.google.protobuf.Parser<ExpressionTired>
+        PARSER = new com.google.protobuf.AbstractParser<ExpressionTired>() {
+      @java.lang.Override
+      public ExpressionTired 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<ExpressionTired> parser() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public com.google.protobuf.Parser<ExpressionTired> getParserForType() {
+      return PARSER;
+    }
+
+    @java.lang.Override
+    public cmvr.api.BioheadCommand.ExpressionTired getDefaultInstanceForType() {
+      return DEFAULT_INSTANCE;
+    }
+
+  }
+
   private static final com.google.protobuf.Descriptors.Descriptor
     internal_static_cmvr_api_FacialExpression_descriptor;
   private static final 
@@ -17844,6 +26310,81 @@ public final class BioheadCommand {
   private static final 
     com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
       internal_static_cmvr_api_EmergencyStop_Feedback_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_SpeakStart_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_SpeakStart_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_SpeakStart_Request_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_SpeakStart_Request_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_SpeakStart_Feedback_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_SpeakStart_Feedback_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_SpeakStop_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_SpeakStop_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_SpeakStop_Request_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_SpeakStop_Request_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_SpeakStop_Feedback_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_SpeakStop_Feedback_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_Happy_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_Happy_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_Happy_Request_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_Happy_Request_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_Happy_Feedback_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_Happy_Feedback_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_Surprise_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_Surprise_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_Surprise_Request_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_Surprise_Request_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_Surprise_Feedback_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_Surprise_Feedback_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_ExpressionTired_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_ExpressionTired_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_ExpressionTired_Request_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_ExpressionTired_Request_fieldAccessorTable;
+  private static final com.google.protobuf.Descriptors.Descriptor
+    internal_static_cmvr_api_ExpressionTired_Feedback_descriptor;
+  private static final 
+    com.google.protobuf.GeneratedMessageV3.FieldAccessorTable
+      internal_static_cmvr_api_ExpressionTired_Feedback_fieldAccessorTable;
 
   public static com.google.protobuf.Descriptors.FileDescriptor
       getDescriptor() {
@@ -17905,7 +26446,24 @@ public final class BioheadCommand {
       "\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmvr.api.C" +
       "ommandHeader.Request\032W\n\010Feedback\0220\n\006head" +
       "er\030\001 \001(\0132 .cmvr.api.CommandHeader.Feedba" +
-      "ck\022\031\n\021stopped_processes\030\002 \001(\tb\006proto3"
+      "ck\022\031\n\021stopped_processes\030\002 \001(\t\"\206\001\n\nSpeakS" +
+      "tart\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\"\205\001\n\tSpeakStop\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\"\201\001\n\005Happy\032:\n\007Requ" +
+      "est\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHe" +
+      "ader.Request\032<\n\010Feedback\0220\n\006header\030\001 \001(\013" +
+      "2 .cmvr.api.CommandHeader.Feedback\"\204\001\n\010S" +
+      "urprise\032:\n\007Request\022/\n\006header\030\001 \001(\0132\037.cmv" +
+      "r.api.CommandHeader.Request\032<\n\010Feedback\022" +
+      "0\n\006header\030\001 \001(\0132 .cmvr.api.CommandHeader" +
+      ".Feedback\"\213\001\n\017ExpressionTired\032:\n\007Request" +
+      "\022/\n\006header\030\001 \001(\0132\037.cmvr.api.CommandHeade" +
+      "r.Request\032<\n\010Feedback\0220\n\006header\030\001 \001(\0132 ." +
+      "cmvr.api.CommandHeader.Feedbackb\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
@@ -18038,6 +26596,96 @@ public final class BioheadCommand {
       com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
         internal_static_cmvr_api_EmergencyStop_Feedback_descriptor,
         new java.lang.String[] { "Header", "StoppedProcesses", });
+    internal_static_cmvr_api_SpeakStart_descriptor =
+      getDescriptor().getMessageTypes().get(5);
+    internal_static_cmvr_api_SpeakStart_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_SpeakStart_descriptor,
+        new java.lang.String[] { });
+    internal_static_cmvr_api_SpeakStart_Request_descriptor =
+      internal_static_cmvr_api_SpeakStart_descriptor.getNestedTypes().get(0);
+    internal_static_cmvr_api_SpeakStart_Request_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_SpeakStart_Request_descriptor,
+        new java.lang.String[] { "Header", });
+    internal_static_cmvr_api_SpeakStart_Feedback_descriptor =
+      internal_static_cmvr_api_SpeakStart_descriptor.getNestedTypes().get(1);
+    internal_static_cmvr_api_SpeakStart_Feedback_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_SpeakStart_Feedback_descriptor,
+        new java.lang.String[] { "Header", });
+    internal_static_cmvr_api_SpeakStop_descriptor =
+      getDescriptor().getMessageTypes().get(6);
+    internal_static_cmvr_api_SpeakStop_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_SpeakStop_descriptor,
+        new java.lang.String[] { });
+    internal_static_cmvr_api_SpeakStop_Request_descriptor =
+      internal_static_cmvr_api_SpeakStop_descriptor.getNestedTypes().get(0);
+    internal_static_cmvr_api_SpeakStop_Request_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_SpeakStop_Request_descriptor,
+        new java.lang.String[] { "Header", });
+    internal_static_cmvr_api_SpeakStop_Feedback_descriptor =
+      internal_static_cmvr_api_SpeakStop_descriptor.getNestedTypes().get(1);
+    internal_static_cmvr_api_SpeakStop_Feedback_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_SpeakStop_Feedback_descriptor,
+        new java.lang.String[] { "Header", });
+    internal_static_cmvr_api_Happy_descriptor =
+      getDescriptor().getMessageTypes().get(7);
+    internal_static_cmvr_api_Happy_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_Happy_descriptor,
+        new java.lang.String[] { });
+    internal_static_cmvr_api_Happy_Request_descriptor =
+      internal_static_cmvr_api_Happy_descriptor.getNestedTypes().get(0);
+    internal_static_cmvr_api_Happy_Request_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_Happy_Request_descriptor,
+        new java.lang.String[] { "Header", });
+    internal_static_cmvr_api_Happy_Feedback_descriptor =
+      internal_static_cmvr_api_Happy_descriptor.getNestedTypes().get(1);
+    internal_static_cmvr_api_Happy_Feedback_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_Happy_Feedback_descriptor,
+        new java.lang.String[] { "Header", });
+    internal_static_cmvr_api_Surprise_descriptor =
+      getDescriptor().getMessageTypes().get(8);
+    internal_static_cmvr_api_Surprise_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_Surprise_descriptor,
+        new java.lang.String[] { });
+    internal_static_cmvr_api_Surprise_Request_descriptor =
+      internal_static_cmvr_api_Surprise_descriptor.getNestedTypes().get(0);
+    internal_static_cmvr_api_Surprise_Request_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_Surprise_Request_descriptor,
+        new java.lang.String[] { "Header", });
+    internal_static_cmvr_api_Surprise_Feedback_descriptor =
+      internal_static_cmvr_api_Surprise_descriptor.getNestedTypes().get(1);
+    internal_static_cmvr_api_Surprise_Feedback_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_Surprise_Feedback_descriptor,
+        new java.lang.String[] { "Header", });
+    internal_static_cmvr_api_ExpressionTired_descriptor =
+      getDescriptor().getMessageTypes().get(9);
+    internal_static_cmvr_api_ExpressionTired_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_ExpressionTired_descriptor,
+        new java.lang.String[] { });
+    internal_static_cmvr_api_ExpressionTired_Request_descriptor =
+      internal_static_cmvr_api_ExpressionTired_descriptor.getNestedTypes().get(0);
+    internal_static_cmvr_api_ExpressionTired_Request_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_ExpressionTired_Request_descriptor,
+        new java.lang.String[] { "Header", });
+    internal_static_cmvr_api_ExpressionTired_Feedback_descriptor =
+      internal_static_cmvr_api_ExpressionTired_descriptor.getNestedTypes().get(1);
+    internal_static_cmvr_api_ExpressionTired_Feedback_fieldAccessorTable = new
+      com.google.protobuf.GeneratedMessageV3.FieldAccessorTable(
+        internal_static_cmvr_api_ExpressionTired_Feedback_descriptor,
+        new java.lang.String[] { "Header", });
     cmvr.api.Common.getDescriptor();
   }
 
diff --git a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioheadService.java b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioheadService.java
index 270a0a6..52055c6 100644
--- a/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioheadService.java
+++ b/cmvr-iot-api/cmvr-iot-edge/cmvr-iot-grpc-lib/src/main/java/cmvr/api/BioheadService.java
@@ -24,17 +24,27 @@ public final class BioheadService {
   static {
     java.lang.String[] descriptorData = {
       "\n\036cmvr/api/biohead_service.proto\022\010cmvr.a" +
-      "pi\032\036cmvr/api/biohead_command.proto2\207\003\n\016B" +
+      "pi\032\036cmvr/api/biohead_command.proto2\375\005\n\016B" +
       "ioHeadService\022`\n\rSetExpression\022%.cmvr.ap" +
       "i.SetFacialExpression.Request\032&.cmvr.api" +
-      ".SetFacialExpression.Feedback\"\000\022m\n\020Strea" +
+      ".SetFacialExpression.Feedback\"\000\022k\n\020Strea" +
       "mExpression\022(.cmvr.api.StreamFacialExpre" +
       "ssion.Request\032).cmvr.api.StreamFacialExp" +
-      "ression.Feedback\"\000(\0010\001\022N\n\017GetSystemStatu" +
-      "s\022\033.cmvr.api.GetStatus.Request\032\034.cmvr.ap" +
-      "i.GetStatus.Feedback\"\000\022T\n\rEmergencyStop\022" +
-      "\037.cmvr.api.EmergencyStop.Request\032 .cmvr." +
-      "api.EmergencyStop.Feedback\"\000b\006proto3"
+      "ression.Feedback(\0010\001\022N\n\017GetSystemStatus\022" +
+      "\033.cmvr.api.GetStatus.Request\032\034.cmvr.api." +
+      "GetStatus.Feedback\"\000\022T\n\rEmergencyStop\022\037." +
+      "cmvr.api.EmergencyStop.Request\032 .cmvr.ap" +
+      "i.EmergencyStop.Feedback\"\000\022K\n\nSpeakStart" +
+      "\022\034.cmvr.api.SpeakStart.Request\032\035.cmvr.ap" +
+      "i.SpeakStart.Feedback\"\000\022H\n\tSpeakStop\022\033.c" +
+      "mvr.api.SpeakStop.Request\032\034.cmvr.api.Spe" +
+      "akStop.Feedback\"\000\022<\n\005Happy\022\027.cmvr.api.Ha" +
+      "ppy.Request\032\030.cmvr.api.Happy.Feedback\"\000\022" +
+      "E\n\010Surprise\022\032.cmvr.api.Surprise.Request\032" +
+      "\033.cmvr.api.Surprise.Feedback\"\000\022Z\n\017Expres" +
+      "sionTired\022!.cmvr.api.ExpressionTired.Req" +
+      "uest\032\".cmvr.api.ExpressionTired.Feedback" +
+      "\"\000b\006proto3"
     };
     descriptor = com.google.protobuf.Descriptors.FileDescriptor
       .internalBuildGeneratedFileFrom(descriptorData,
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 888730a..4e5e984 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
@@ -9,17 +9,17 @@ package cmvr.api;
  * 包含生物头部机器人面部各部位的运动参数，用于精确控制面部表情
  */
 message FacialExpression {
-    /**
-     * 眉毛控制参数
-     * 左右眉毛的内外侧垂直位置（0.0-1.0标准化值）
-     */
-    message Eyebrow {
-        float left_outside_y = 1;  // 左眉外侧垂直位置
-        float left_inside_y = 2;   // 左眉内侧垂直位置
-        float right_outside_y = 3; // 右眉外侧垂直位置
-        float right_inside_y = 4;  // 右眉内侧垂直位置
-    }
-    Eyebrow eyebrow = 3;        // 眉毛参数封装
+  /**
+   * 眉毛控制参数
+   * 左右眉毛的内外侧垂直位置（0.0-1.0标准化值）
+   */
+  message Eyebrow {
+    float left_outside_y = 1;  // 左眉外侧垂直位置
+    float left_inside_y = 2;   // 左眉内侧垂直位置
+    float right_outside_y = 3; // 右眉外侧垂直位置
+    float right_inside_y = 4;  // 右眉内侧垂直位置
+  }
+  Eyebrow eyebrow = 3;        // 眉毛参数封装
 
   /**
    * 眼睑控制参数
@@ -111,16 +111,16 @@ message FacialExpression {
  * 用于单次设置生物头部的面部表情
  */
 message SetFacialExpression {
-    message Request {
-        CommandHeader.Request header = 1;  // 通用命令头，包含设备ID和时间戳
-        FacialExpression expression = 2;   // 具体面部表情参数
-    }
+  message Request {
+    CommandHeader.Request header = 1;  // 通用命令头，包含设备ID和时间戳
+    FacialExpression expression = 2;   // 具体面部表情参数
+  }
 
-    message Feedback {
-        CommandHeader.Feedback header = 1; // 通用反馈头，包含操作状态和时间戳
-        string execution_id = 2;           // 表情执行任务ID
-        float execution_time_ms = 3;        // 表情执行耗时（毫秒）
-    }
+  message Feedback {
+    CommandHeader.Feedback header = 1; // 通用反馈头，包含操作状态和时间戳
+    string execution_id = 2;           // 表情执行任务ID
+    float execution_time_ms = 3;        // 表情执行耗时（毫秒）
+  }
 }
 
 /**
@@ -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
+  }
 }
 
 /**
@@ -145,18 +145,18 @@ message StreamFacialExpression {
  * 用于查询当前头部各部位的状态和位置
  */
 message GetStatus {
-    message Request {
-        CommandHeader.Request header = 1;  // 通用命令头
-    }
+  message Request {
+    CommandHeader.Request header = 1;  // 通用命令头
+  }
 
-    message Feedback {
-        CommandHeader.Feedback header = 1; // 通用反馈头
-        bool is_moving = 2;                // 是否有部位在移动
-        string last_request_id = 3;        // 上一次请求的ID
-        repeated float current_positions = 4; // 当前各部位位置参数
-        bool camera_recording = 5;         // 相机是否在录制
-        string active_recording_id = 6;    // 活跃录制任务的ID
-    }
+  message Feedback {
+    CommandHeader.Feedback header = 1; // 通用反馈头
+    bool is_moving = 2;                // 是否有部位在移动
+    string last_request_id = 3;        // 上一次请求的ID
+    repeated float current_positions = 4; // 当前各部位位置参数
+    bool camera_recording = 5;         // 相机是否在录制
+    string active_recording_id = 6;    // 活跃录制任务的ID
+  }
 }
 
 /**
@@ -164,12 +164,69 @@ message GetStatus {
  * 用于立即停止所有面部动作
  */
 message EmergencyStop {
-    message Request {
-        CommandHeader.Request header = 1;  // 通用命令头
-    }
+  message Request {
+    CommandHeader.Request header = 1;  // 通用命令头
+  }
 
-    message Feedback {
-        CommandHeader.Feedback header = 1; // 通用反馈头
-        string stopped_processes = 2;      // 已停止的进程列表
-    }
+  message Feedback {
+    CommandHeader.Feedback header = 1; // 通用反馈头
+    string stopped_processes = 2;      // 已停止的进程列表
+  }
+}
+
+message SpeakStart {
+  message Request {
+    CommandHeader.Request header = 1;  // 通用命令头
+  }
+
+  message Feedback {
+    CommandHeader.Feedback header = 1; // 通用反馈头
+  }
+}
+
+message SpeakStop {
+  message Request {
+    CommandHeader.Request header = 1;  // 通用命令头
+  }
+
+  message Feedback {
+    CommandHeader.Feedback header = 1; // 通用反馈头
+  }
+}
+
+
+
+// 表情控制 - 高兴
+message Happy {
+  message Request {
+    CommandHeader.Request header = 1;  // 通用命令头
+  }
+
+  message Feedback {
+    CommandHeader.Feedback header = 1; // 通用反馈头
+  }
+}
+
+
+// 表情控制 - 惊讶
+message Surprise {
+  message Request {
+    CommandHeader.Request header = 1;  // 通用命令头
+  }
+
+  message Feedback {
+    CommandHeader.Feedback header = 1; // 通用反馈头
+  }
+}
+
+
+
+message ExpressionTired {
+  message Request {
+    CommandHeader.Request header = 1;
+  }
+
+  message Feedback {
+    CommandHeader.Feedback header = 1;
+  }
 }
\ No newline at end of file
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 ea1e029..4c0eea8 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
@@ -5,18 +5,32 @@ 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){};
+
+  // 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){};
 
 
-    // 获取状态
-    rpc GetSystemStatus(GetStatus.Request) returns (GetStatus.Feedback){};
 
-    // 紧急停止
-    rpc EmergencyStop(EmergencyStop.Request) returns (EmergencyStop.Feedback){};
 }
\ No newline at end of file
diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java b/cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java
index 1cc01f0..2f4539b 100644
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/enums/ActionEnum.java
@@ -46,6 +46,11 @@ public enum ActionEnum {
     // ---------------机械臂---------------
     TOUCH("EDGE", "TOUCH", "触控"),
 
+    // --------------- 头部 ---------------
+    BIO_HEAD_SPEAK_START("EDGE", "BIO_HEAD_SPEAK_START", "开始说话"),
+    BIO_HEAD_SPEAK_STOP("EDGE", "BIO_HEAD_SPEAK_STOP", "停止说话"),
+    BIO_HEAD_SPECIAL_EXPRESSION("EDGE", "BIO_HEAD_SPECIAL_EXPRESSION", "表情，1:高兴,2:惊讶,3:疲惫"),
+
     // 大模型行为
     // ---------------获取触控坐标---------------
     TOUCH_COORDINATES("LLM", "TOUCH_COORDINATES", "获取触控坐标"),
diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeHeadOperateService.java b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeHeadOperateService.java
new file mode 100644
index 0000000..f3cab58
--- /dev/null
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeHeadOperateService.java
@@ -0,0 +1,60 @@
+package com.cmvr.test.flow.runtime.operator.edge;
+
+import com.alibaba.fastjson2.JSONObject;
+import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.service.EdgeBioHeadService;
+import com.cmvr.test.enums.ActionEnum;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
+import com.cmvr.test.flow.runtime.message.TaskNodeExecuteResult;
+import lombok.RequiredArgsConstructor;
+import lombok.extern.slf4j.Slf4j;
+import org.springframework.stereotype.Service;
+
+@Slf4j
+@Service
+@RequiredArgsConstructor
+public class EdgeHeadOperateService implements EdgeOperateService {
+
+    private final EdgeBioHeadService edgeBioHeadService;
+
+    @Override
+    public boolean supports(ActionEnum action) {
+        return action.name().startsWith("BIO_HEAD_");
+    }
+
+    @Override
+    public TaskNodeExecuteResult execute(TaskNodeExecuteMessage message) {
+        ActionEnum action = message.getAction();
+        JSONObject inputParams = message.getInputParams();
+        String terminalId = message.getTerminalId();
+        String deviceId = inputParams.getString("deviceId");
+
+        switch (action) {
+            case BIO_HEAD_SPEAK_START: {
+                EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+                edgeCommonVO.setDeviceId(deviceId);
+                edgeCommonVO.setTerminalId(terminalId);
+                edgeBioHeadService.speakStart(edgeCommonVO);
+                break;
+            }
+            case BIO_HEAD_SPEAK_STOP: {
+                EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+                edgeCommonVO.setDeviceId(deviceId);
+                edgeCommonVO.setTerminalId(terminalId);
+                edgeBioHeadService.speakStop(edgeCommonVO);
+                break;
+            }
+            case BIO_HEAD_SPECIAL_EXPRESSION: {
+                Integer expressKey = inputParams.getInteger("expressKey");
+                edgeBioHeadService.specialExpression(terminalId,deviceId,expressKey);
+                break;
+            }
+
+            default:
+                throw new GlobalException("不支持的头部操作类型: " + action);
+        }
+        return TaskNodeExecuteResult.success();
+    }
+
+}
diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java
index 0719691..8fb713d 100644
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/edge/EdgeTouchOperateService.java
@@ -12,6 +12,8 @@ import lombok.RequiredArgsConstructor;
 import lombok.extern.slf4j.Slf4j;
 import org.springframework.stereotype.Service;
 
+import java.util.List;
+
 @Slf4j
 @Service
 @RequiredArgsConstructor
@@ -37,6 +39,15 @@ public class EdgeTouchOperateService implements EdgeOperateService {
                 EdgeMoveJVO edgeMoveJVO = JSON.parseObject(touchParams, EdgeMoveJVO.class);
                 edgeMoveJVO.setTerminalId(terminalId);
                 edgeMoveJVO.setDeviceId(deviceId);
+
+                edgeMoveJVO.setAcc(6d);
+                edgeMoveJVO.setVel(6d);
+                List<EdgeMoveJVO.JointCmd> cmds = edgeMoveJVO.getCmds();
+                for (EdgeMoveJVO.JointCmd cmd : cmds) {
+                    if (cmd.getJointName().equals("R_WRIST_Y")) {
+                        cmd.setRad(cmd.getRad() - 0.12d);
+                    }
+                }
                 edgeHumanoidRobotService.moveJ(edgeMoveJVO);
                 break;
             }
diff --git a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/vi/ViPlayOperateService.java b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/vi/ViPlayOperateService.java
index cd77a17..ffd262d 100644
--- a/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/vi/ViPlayOperateService.java
+++ b/cmvr-iot-test/src/main/java/com/cmvr/test/flow/runtime/operator/vi/ViPlayOperateService.java
@@ -3,6 +3,8 @@ package com.cmvr.test.flow.runtime.operator.vi;
 import cmvr.api.SpeakerCommand;
 import com.alibaba.fastjson2.JSONObject;
 import com.cmvr.common.exception.GlobalException;
+import com.cmvr.edge.client.model.EdgeCommonVO;
+import com.cmvr.edge.client.service.EdgeBioHeadService;
 import com.cmvr.edge.client.service.EdgeSpeakerService;
 import com.cmvr.test.enums.ActionEnum;
 import com.cmvr.test.flow.runtime.message.TaskNodeExecuteMessage;
@@ -24,6 +26,7 @@ import java.io.File;
 public class ViPlayOperateService implements VIOperateService {
 
     private final EdgeSpeakerService edgeSpeakerService;
+    private final EdgeBioHeadService edgeBioHeadService;
 
     @Override
     public boolean supports(ActionEnum action) {
@@ -41,6 +44,11 @@ public class ViPlayOperateService implements VIOperateService {
         String audioPath = inputParams.getString("audioPath");
         String terminalId = message.getTerminalId();
         log.info("播放语料成功,deviceId={},audioPath={},terminalId={}", deviceId, audioPath, terminalId);
+        // 播放前调用张嘴
+        EdgeCommonVO edgeCommonVO = new EdgeCommonVO();
+        edgeCommonVO.setDeviceId(deviceId);
+        edgeCommonVO.setTerminalId(terminalId);
+        edgeBioHeadService.speakStart(edgeCommonVO);
         edgeSpeakerService.playAudio(terminalId, deviceId, audioPath);
         // 等待播放完成
         while (true) {
@@ -55,7 +63,8 @@ public class ViPlayOperateService implements VIOperateService {
                 break;
             }
         }
-
+        // 播放完成调用闭嘴
+        edgeBioHeadService.speakStop(edgeCommonVO);
         // todo 本机测试播放
 //        playAudio(audioPath);
         return TaskNodeExecuteResult.success();