commit 515eb3f09cddd25a0b6f2ba0cb6a815426596b31
Author: xtkuang <87661715@qq.com>
Date:   Mon Jul 20 16:59:37 2026 +0800

    project init

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+# cmvr-edge-ai
+
+`cmvr-edge-ai` 是部署在机器人边缘端的、配置驱动的 AI 流水线运行时。它把上游传感器、AI 算法和下游机器人/平台接口拆成可组合节点，通过 YAML 把节点连接成有向无环图（DAG）。协议只出现在边界连接器中，算法节点使用统一的内部消息，因此以后增加 HTTP、gRPC、UDP 或 QUIC 时不需要改动算法本身。
+
+当前版本已经包含可运行的检测链路和框架基础设施：
+
+- 严格 YAML 配置校验、环境变量展开和 DAG 编译检查；
+- `Source -> Operator -> Sink` 异步运行时；
+- 每条边独立的有界队列和明确的溢出策略；
+- 版本化插件注册表、检测模型注册表和 Python entry point 扩展机制；
+- cmvr-es RGB 相机 gRPC Source（带退避上限的指数重连）、AGV gRPC Sink；
+- PyAV H264/H265 有状态解码、通用检测模型节点和重复命中规则节点；
+- Construction PPE YOLOv8 与六类 PPE YOLOv8n 模型注册，以及按标签、置信度和最大 FPS 的部署配置；
+- 平台 HTTP JSON Sink，支持有限重试、`raise/log_and_drop` 失败策略，并使用告警
+  `event_id` 作为幂等键；
+- `RobotCommand -> ApprovedRobotCommand` 安全门和无重试的类型化 AGV 命令映射；
+- 文本/JSON 日志、共享 gRPC Channel 与 HTTP Client；
+- 可直接执行的 smoke、PPE 检测和对话占位配置。
+
+`detect_server/pipeline.yaml` 当前只启用 Construction PPE 模型，并经过时间窗口规则向
+8081 上报告警。六类 PPE 模型及第二 HTTP 平台的实现仍保留在注册表和连接器中，但不在
+当前 Pipeline 图中实例化，因此不会加载第二份权重、执行第二次推理或访问 8082。
+VAD/ASR/LLM/TTS 尚未内置；`talk_server/pipeline.yaml` 仍使用模拟音频数据，等待
+cmvr-es 音频双向流 proto 落地。
+
+## 架构概览
+
+```mermaid
+flowchart LR
+    A["cmvr-es / 平台<br/>gRPC、HTTP、未来 UDP/QUIC"] --> B["Source 连接器"]
+    B --> C["每条边独立的有界队列"]
+    C --> D["Operator DAG<br/>解码、检测、VAD、ASR、LLM、TTS、策略"]
+    D --> E["Safety Gate"]
+    D --> F["平台 Sink"]
+    E --> G["机器人执行器 Sink"]
+```
+
+内部节点传递 `Envelope[T]`，其中包含载荷、`schema/version`、采集时间、序号、截止时间、`trace_id` 和 `session_id`。连接器负责 protobuf/HTTP JSON 与内部契约之间的转换，AI 插件不应直接依赖 cmvr-es protobuf。
+
+完整设计和配置字段见 [docs/architecture.md](docs/architecture.md)。
+
+## 目录
+
+```text
+cmvr_edge_ai/
+├── .python-version                # uv 默认 Python 3.10
+├── uv.lock                        # 所有 profile 的可复现依赖锁
+├── configs/
+│   └── smoke.yaml                 # 不依赖外部服务的最小运行验证
+├── detect_server/
+│   └── pipeline.yaml              # cmvr-es 相机 -> PPE 告警 -> HTTP 平台
+├── talk_server/
+│   ├── nodes/                     # 对话插件预留目录
+│   └── pipeline.yaml              # 模拟音频 -> 对话占位 -> 日志
+├── scripts/
+│   ├── bootstrap.sh               # 一键创建 uv 环境、生成 bindings 并自检
+│   └── generate_cmvr_stubs.py     # 从 cmvr-es proto 生成 Python bindings
+├── src/cmvr_edge_ai/
+│   ├── config/                    # 配置模型、加载与环境变量展开
+│   ├── core/                      # Envelope、组件接口、队列和 DAG 运行时
+│   ├── contracts/                 # 协议无关的图像、音频、AI 和控制契约
+│   ├── detection/                 # 模型注册、视频解码、推理与时间窗口规则
+│   ├── plugins/                   # 插件注册、发现和内置基础插件
+│   ├── connectors/                # cmvr-es 与平台边界连接器
+│   ├── transports/                # gRPC/HTTP 连接池；UDP/QUIC 扩展位置
+│   ├── workers/                   # 显式线程 offload 与常驻进程 Worker 工具
+│   ├── observability/             # 低开销文本/JSON 日志
+│   ├── application.py             # 多 Pipeline 与共享网络客户端的所有者
+│   ├── compiler.py                # 配置到可执行 DAG 的编译器
+│   └── cli.py                     # validate/run/plugins/models
+└── tests/
+```
+
+## 快速开始
+
+项目使用 `uv` 管理 Python、`.venv` 和锁定依赖。`.python-version` 默认选择
+Python 3.10，支持范围是 3.10～3.12；首次执行时，uv 会在本机没有合适解释器时
+自动安装。先确认已经安装 uv：
+
+```bash
+uv --version
+```
+
+未安装时可使用 uv 官方安装器：
+
+```bash
+curl -LsSf https://astral.sh/uv/install.sh | sh
+```
+
+只验证框架和模拟对话链路时，一条命令创建最小环境并自检：
+
+```bash
+cd /home/xtkuang/Projects/cmvr/cmvr_edge_ai
+bash scripts/bootstrap.sh --profile core
+```
+
+`uv.lock` 是安装的唯一版本来源；bootstrap 使用 `uv sync --locked`，不会在用户
+机器上重新选择依赖版本。无需 `source .venv/bin/activate`，统一通过
+`uv run --no-sync` 使用已经安装好的环境：
+
+```bash
+uv run --no-sync cmvr-edge-ai validate --config configs/smoke.yaml
+uv run --no-sync cmvr-edge-ai plugins
+uv run --no-sync cmvr-edge-ai run \
+  --config configs/smoke.yaml \
+  --log-level INFO \
+  --log-format text
+```
+
+预期会看到两条日志，内容分别包含 `framework-ready` 和 `bounded-dag-running`。该 Source 是有限数据源，数据处理完后进程会自然退出。
+
+bootstrap 支持以下环境：
+
+| Profile | 安装内容 | 命令 |
+|---|---|---|
+| `core` | 框架核心和模拟 smoke/talk 链路 | `bash scripts/bootstrap.sh --profile core` |
+| `detection-cpu` | gRPC、HTTP、PyAV、Pillow 告警图片和固定版本 CPU YOLO；默认值 | `bash scripts/bootstrap.sh` |
+| `dev` | `detection-cpu` 加测试和 protobuf codegen 工具，并运行完整测试 | `bash scripts/bootstrap.sh --profile dev` |
+
+如果只希望安装、不执行自检，可加 `--skip-check`。完整参数通过以下命令查看：
+
+```bash
+bash scripts/bootstrap.sh --help
+```
+
+不要使用 `uv sync --all-extras`：`yolo` 与 `yolo-cpu` 是为不同 PyTorch 来源准备的
+互斥环境。请使用 bootstrap profile，或显式只选择其中一个 extra。
+告警图片的画框和 JPEG 编码由独立的 `image` extra 提供；默认的
+`detection-cpu`/`dev` profile 已安装它，手动组合检测环境时也必须选择
+`--extra image`。
+
+CLI 的四个子命令如下：
+
+| 命令 | 用途 |
+|---|---|
+| `validate -c FILE [--pipeline ID]` | 加载配置、展开环境变量、构造插件并校验 DAG；不启动 Pipeline |
+| `run -c FILE [--pipeline ID]` | 启动选中的 Pipeline；未指定时启动所有 `enabled: true` 的 Pipeline |
+| `plugins` | 列出内置插件和已安装 entry point 插件 |
+| `models` | 列出检测模型 ID、名称、backend 和注册的全部标签 |
+
+`--pipeline` 可以重复传入。`run` 还支持 `--log-level` 和 `--log-format text|json`。配置错误退出码为 `2`，运行错误为 `1`，键盘中断为 `130`。
+
+## 运行 PPE 检测链路
+
+默认 bootstrap 就是当前 YAML 使用的 CPU 检测环境。它会从相邻的
+`../cmvr-es` 读取 proto、用锁定的 `grpcio-tools` 生成 bindings，然后安装完整
+检测依赖并校验 smoke 和 PPE 配置：
+
+```bash
+cd /home/xtkuang/Projects/cmvr/cmvr_edge_ai
+bash scripts/bootstrap.sh
+```
+
+如果 cmvr-es 不在相邻目录，显式指定路径：
+
+```bash
+bash scripts/bootstrap.sh \
+  --cmvr-es-root /home/xtkuang/Projects/cmvr/cmvr-es
+```
+
+bootstrap 默认使用 portable codegen，所以不要求 cmvr-es 已经编译出 `protoc`。
+要跳过生成（例如部署包已经包含匹配版本的 bindings），使用
+`--skip-codegen`。手动生成时可以执行：
+
+```bash
+uv sync --locked --only-group codegen
+.venv/bin/python scripts/generate_cmvr_stubs.py \
+  --cmvr-es-root /home/xtkuang/Projects/cmvr/cmvr-es \
+  --portable
+```
+
+生成文件默认写入 `src/cmvr/...`，使 `cmvr.api.*_pb2` 可以被连接器导入。
+生成后应再次执行目标 profile 的 `uv sync --locked`，让可编辑安装识别新包；bootstrap
+已经按这个顺序处理。
+
+在 `detect_server/pipeline.yaml` 中配置部署参数：
+
+```yaml
+endpoints:
+  cmvr_es:
+    target: 127.0.0.1:50052
+  platform:
+    base_url: http://127.0.0.1:8081
+
+pipelines:
+  detection:
+    nodes:
+      camera:
+        with:
+          device_id: right_hand_cam
+          stream_log_interval_s: 5
+      detector:
+        with:
+          attach_frame: true
+          inference_log_interval_s: 5
+          model_options:
+            weights: /home/xtkuang/Projects/cmvr/changan_robot/construction-ppe-yolov8/best.pt
+            device: cpu
+      repeat_gate:
+        with:
+          alert_image:
+            enabled: true
+            jpeg_quality: 85
+      platform:
+        with:
+          failure_mode: log_and_drop
+```
+
+然后验证并运行检测链路，不再要求预先导出环境变量：
+
+```bash
+uv run --no-sync cmvr-edge-ai models
+uv run --no-sync cmvr-edge-ai validate \
+  --config detect_server/pipeline.yaml \
+  --pipeline detection
+uv run --no-sync cmvr-edge-ai run --config detect_server/pipeline.yaml \
+  --pipeline detection \
+  --log-level INFO \
+  --log-format json
+```
+
+启动后，detector 会先输出一条 `detection model loaded`，表示对应权重已经成功
+加载。收到解码帧并完成真实 `predict` 后，会立即输出第一条 `detection inference`，之后
+按 `inference_log_interval_s` 聚合输出一次；其中 `window_frames` 是本周期推理帧数，
+`window_detections` 是检测框总数，`hit_labels` 是各标签的检测框累计数。持续只有 loaded 而没有
+inference，说明相机或 decoder 尚未把帧送到模型；inference 中 detection 为 0 只表示
+当前阈值下没有命中。短时调试可设为 `1` 秒，生产环境可设为 `30`～`60` 秒，省略则关闭
+周期推理日志。这里使用标准日志而不是裸 `print`，因此与 `--log-format json` 兼容。
+
+相机连接器会在每次首次连接或重连时先发 `CameraService.StartCamera`，收到成功反馈后
+才建立 `GetRGBImageStream`。终端会依次出现 `camera start requested/succeeded`、
+`camera stream opening`、`camera stream first frame` 和周期性的 `camera stream progress`。
+如果只有 opening 而没有 first frame，progress 中会持续显示
+`first_frame_received=false window_frames=0`，用于区分“RPC 已建立但相机没有出帧”。
+
+运行前需要确认 Construction PPE 权重存在、cmvr-es 已启用 `right_hand_cam`，8081 平台的
+`/v1/detection-alerts` 可访问。默认 `yolo-cpu` profile 将 PyTorch 2.7.0 和
+torchvision 0.22.0 绑定到官方 CPU wheel，并固定 checkpoint 记录的 Ultralytics
+8.4.31。`model_options.device` 在该环境中应保持 `cpu`，`half` 应保持 `false`。
+
+x86 CUDA 和 Jetson/JetPack 的 PyTorch wheel 与驱动强绑定，不能复用这个 CPU
+profile。项目保留了不绑定 CPU index 的 `yolo` extra 作为设备专用环境的基础，但
+GPU 部署前应为目标设备建立单独的 uv source/lock（或使用 NVIDIA 容器），再把 YAML
+中的 `device` 改为 `cuda:0`；不要只改 YAML 就认为 CUDA 环境已经就绪。
+
+`detection.model@1` 根据 `model` 从 `DetectionModelRegistry` 解析模型。`detect_labels` 只选择需要检测的标签，省略时检测注册模型的全部标签；`confidence` 是全局阈值，也可以用 `label_confidence` 为个别标签覆盖。当前内置 `construction-ppe-yolov8@1` 的 19 个标签和 `ppe-6classes-yolov8n@1` 的 6 个标签都可以通过 `cmvr-edge-ai models` 查看。`attach_frame: true` 让检测结果临时携带对应的解码帧，供后续告警节点使用；因此原 detector 到 repeat gate 的队列应保持较小，避免堆积未压缩图像。
+
+六类模型的标签是 `Gloves`、`Vest`、`goggles`、`helmet`、`mask` 和 `safety_shoe`，
+语义是“画面中检测到了该装备”，不是“人员缺少该装备”。它没有 `Person` 或 `No-*`
+类，也没有人员与装备关联能力，因此不能只靠配置推断某个人未佩戴 PPE。该模型当前仅
+注册、未被 `detect_server/pipeline.yaml` 引用；需要恢复第二分支时，应同时配置 detector、
+8082 endpoint、HTTP Sink 和两条关联 edge。
+
+若以后恢复双模型配置，应从 decoder 输出端口 fan-out，让两个 detector 共享同一个相机
+订阅和 PyAV decoder；两个模型仍会分别加载和推理，并共享应用的有界线程池。
+
+`detection.repeat_gate@1` 只在一个规则的 `window_ms` 内看到至少 `min_hits` 个不同帧后生成 `DetectionAlert/v1`。同一帧有多个同类框仍只算一次；触发后进入 `cooldown_ms`，冷却期间不累计，结束后必须重新满足次数。`scope: source` 按相机统计；`scope: track` 按 `track_id` 统计，但当前 YOLO adapter 只做逐帧检测，不产生 `track_id`，因此使用 track 规则前必须增加跟踪/关联节点。
+
+启用 `alert_image` 后，repeat gate 只在规则真正触发时使用 Pillow 对阈值帧画框并编码 JPEG，不会给每一帧都生成图片。告警的 `detections` 和图片中的 bounding boxes 都来自达到 `min_hits` 的阈值帧；窗口内更早帧只参与 `hit_count`、时间范围和最大置信度统计。HTTP JSON 中图片位于 `payload.image`：
+
+```json
+{
+  "image": {
+    "media_type": "image/jpeg",
+    "width": 1280,
+    "height": 720,
+    "encoding": "base64",
+    "data": "..."
+  }
+}
+```
+
+这里的外层对象是 `DetectionAlert` payload 的片段；HTTP JSON Sink 会把内部 JPEG
+`bytes` 转成上述扁平 Base64 图片对象。未启用图片，或运行时因第三方结果未附带
+帧、坏帧等原因渲染失败时，告警仍会发送且 `payload.image` 为 `null`。
+同一阈值帧若同时触发多条规则或多个 track，只编码一次相关框的并集，并让这些
+告警共享同一个不可变 JPEG 对象，以限制边缘端瞬时 CPU 和内存开销。
+
+对话占位链路不依赖音频 proto：
+
+```bash
+uv run --no-sync cmvr-edge-ai validate --config talk_server/pipeline.yaml
+uv run --no-sync cmvr-edge-ai run --config talk_server/pipeline.yaml
+```
+
+## 配置最小示例
+
+```yaml
+api_version: cmvr.edge.ai/v1
+
+runtime:
+  thread_workers: 2
+  shutdown_timeout_s: 5
+
+pipelines:
+  example:
+    enabled: true
+    nodes:
+      source:
+        uses: core.sequence_source@1
+        with:
+          items: [hello]
+          schema_name: TextEvent
+          schema_version: 1
+      sink:
+        uses: core.log_sink@1
+    edges:
+      - from: source.output
+        to: sink.input
+        qos:
+          profile: request
+          capacity: 4
+          overflow: block
+```
+
+配置模型是严格的，多余字段会报错。字符串支持以下环境变量形式：
+
+- `${NAME}`：变量必须存在；
+- `${NAME:-default}`：未设置或为空时使用默认值；
+- `env://NAME`：整个字符串取自必填环境变量。
+
+v1 支持五个 `qos.profile`，并在编译期约束其溢出策略：编码 H264/H265 在解码前必须使用 `video_contiguous`，只能阻塞或拒绝；解码后的完整图像可使用 `realtime_latest` 丢旧帧控制延迟；`audio_contiguous` 和 `request` 只能阻塞或拒绝；`telemetry` 支持全部策略。未填写 QoS 时使用无损的 `request + block + capacity=1`。`reject` 会抛异常，`error` 是它的兼容别名。`max_age_ms`、`put_timeout_ms` 已预留，设置后 `validate` 会拒绝配置。完整矩阵见架构文档。
+
+## 注册新的检测模型
+
+检测模型和 DAG 插件是两层注册：流水线固定使用通用的 `detection.model@1`，具体模型通过 `DetectionModelRegistry` 注册 `DetectionModelSpec`。每个 spec 必须给出版本化 `model_id`、面向运维的 `name`、有序且唯一的 `supported_labels`、`backend` 和 factory。factory 返回实现 `load/predict/close` 的 `DetectionModel`；部署 YAML 中的 `model_options` 原样交给它。第三方模型包可以使用 `cmvr_edge_ai.detection_models` entry point 发布 spec 或注册回调。安装后先执行 `cmvr-edge-ai models`，再让配置引用其中的精确模型 ID。
+
+模型实际输出的标签仍会在通用 Operator 边界二次校验和过滤；模型返回未注册标签会让节点失败。直接相连的重复规则若引用了 detector 没有选择的标签，也会在 `validate` 阶段被编译器拒绝。
+
+## 开发插件
+
+插件必须使用带版本的稳定 ID，例如 `example.text_upper@1`，并声明节点种类、输入/输出端口及 schema。工厂签名固定为 `(node_id, params)`；组件分别继承 `Source`、`Operator` 或 `Sink`。
+
+```python
+from collections.abc import Mapping
+from typing import Any
+
+from cmvr_edge_ai.contracts import TextEvent
+from cmvr_edge_ai.core import Emission, Envelope, Operator
+from cmvr_edge_ai.plugins import PluginKind, PluginRegistry, PluginSpec
+
+
+class UppercaseOperator(Operator):
+    def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
+        self.node_id = node_id
+
+    async def process(
+        self, envelope: Envelope[Any], input_port: str = "input"
+    ) -> Emission:
+        event = envelope.payload
+        if not isinstance(event, TextEvent):
+            raise TypeError("expected TextEvent")
+        result = TextEvent(text=event.text.upper(), role=event.role, final=event.final)
+        return Emission(
+            "output",
+            envelope.with_payload(result, schema_name="TextEvent", schema_version=1),
+        )
+
+
+def register_plugins(registry: PluginRegistry) -> None:
+    registry.register(
+        PluginSpec(
+            plugin_id="example.text_upper@1",
+            kind=PluginKind.OPERATOR,
+            factory=UppercaseOperator,
+            inputs={"input": "TextEvent/v1"},
+            outputs={"output": "TextEvent/v1"},
+            description="Uppercase text events",
+        )
+    )
+```
+
+在插件包的 `pyproject.toml` 中注册：
+
+```toml
+[project.entry-points."cmvr_edge_ai.plugins"]
+example = "my_cmvr_plugin.plugins:register_plugins"
+```
+
+安装插件包后，用下面的命令确认发现成功：
+
+```bash
+uv run --no-sync cmvr-edge-ai plugins
+```
+
+配置文件不能通过 `module:Class` 任意导入代码；只会使用内置或已安装 entry point 注册的插件。插件完整生命周期、返回值规范和连接器开发约定见 [docs/architecture.md](docs/architecture.md#5-插件开发约定)。
+
+## 机器人控制安全边界
+
+控制链固定为：
+
+```text
+Policy -> RobotCommand/v1
+       -> safety.robot_command_gate@1
+       -> ApprovedRobotCommand/v1
+       -> cmvr.grpc.agv_command_sink@1
+```
+
+AGV Sink 只接受 `ApprovedRobotCommand`，原始 `RobotCommand` 会在运行时被拒绝。配置编译器还要求安全门是执行器的直接前驱；安全门与 actuator 之间不能插入其他节点，也不能增加绕过安全门的输入边。内置安全门负责过期检查和默认 5 秒的最大 TTL、动作/设备白名单、参数范围、最小发送间隔及默认开启的单调序号检查；不合格命令会被丢弃并记录 warning，不会因为一条业务拒绝停止整条 Pipeline。
+
+AGV Sink 必须绑定固定的非空 `device_id`。`set_velocity` 默认禁用；`unsafe_allow_unleased_velocity: true` 只是面向隔离测试场景的显式逃生开关，并且仍要求 Sink 配置 `vx/vy/wz` 的 `velocity_limits`。它只能限制当前客户端发出的数值，并在正常关闭时尽力调用 `stopVelocityControl`；进程崩溃、`SIGKILL`、断电或网络分区时无法保证停车。
+
+真实机器人要启用持续速度控制，必须先在 cmvr-es 服务端实现带过期时间的 lease/deadman：客户端停止续租后，由 cmvr-es 在独立于 edge-ai 进程的安全路径中自动清零速度并停车。客户端的安全门、TTL 和 shutdown hook 不能替代这项服务端保护。
+
+## 当前实现边界
+
+- 音频内部契约 `AudioChunk/v1` 已定义，但 cmvr-es 麦克风/扬声器双向流 proto 和连接器尚未落地。
+- UDP 与 QUIC 目录目前是扩展占位，没有可用传输实现。
+- 运行时 v1 只支持 `execution.mode: async|inline`，两者当前都是单 task、单并发执行。`thread`、`process`、`model_worker` 是保留值；`concurrency != 1`、非空 `max_in_flight/timeout_s`、`ordered: false` 也是保留配置，都会在编译期被拒绝。插件仍可在组件内部显式使用 `workers.run_blocking()`、`PersistentProcessWorker` 或自有模型 Worker，但不能把 `execution` 声明误当作自动调度。
+- v1 对未实现的声明采取 fail-closed：显式设置 `runtime.max_processes/process_start_method/health_bind/reserved_memory_mb`、非默认 pipeline `priority` 或任何非空 `resources` 都会在编译期被拒绝。健康状态和队列统计目前只能通过 Python API 获取。
+- 当前没有配置热更新、配置 overlay、持久化 outbox/spool 或共享内存图像池。HTTP Sink
+  只有当前进程内的有限重试；默认 `failure_mode: raise` 会终止 Pipeline，当前检测配置的
+  `log_and_drop` 则在重试耗尽后记录 WARNING 并丢弃该告警。两种模式在进程退出或断电时
+  都可能丢失未上报数据。
+- 相机 Source 可以重连，但 cmvr-es 当前服务端通过 `getLatestEncodedFrame` 获取最新编码数据；如果上游在 edge-ai 收到之前已跳过 H264/H265 参考包，`video_contiguous` 无法补回数据，解码器只能在错误后重置并等待关键帧。正式部署应验证 cmvr-es 输出的是连续 access unit 流，或改为对 AI 友好的原始/JPEG/可检测不连续性的接口。
+- 内置 YOLO adapter 不运行 tracker，所有检测的 `track_id` 都为空；当前示例因此使用 `scope: source`。
+- PPE 权重仓库对权重的许可说明与 Ultralytics runtime/checkpoint 中的 AGPL 信息需要在商业交付前核对，并同时确认训练数据和权重分发许可。
+- 端口 schema 在编译期按字符串匹配；运行时不会自动验证 Python payload 类型，插件必须在边界处主动检查。
+- AGV 执行器不会自动重试。安全门已提供动作/设备白名单、TTL、参数范围、最小间隔和单调序号检查，但设备状态、command ID 去重、来源仲裁、服务端 lease/deadman 和急停优先级仍需按机器人型号补齐。服务端 deadman 未完成前，禁止把 `set_velocity` 用于真实机器人持续运动。
+
+这些限制及推荐演进顺序在 [docs/architecture.md](docs/architecture.md#9-当前限制与演进顺序) 中有更详细说明。
diff --git a/configs/smoke.yaml b/configs/smoke.yaml
new file mode 100644
index 0000000..d148214
--- /dev/null
+++ b/configs/smoke.yaml
@@ -0,0 +1,41 @@
+api_version: cmvr.edge.ai/v1
+
+runtime:
+  thread_workers: 2
+  shutdown_timeout_s: 5
+
+pipelines:
+  smoke:
+    enabled: true
+    nodes:
+      source:
+        uses: core.sequence_source@1
+        with:
+          items:
+            - framework-ready
+            - bounded-dag-running
+          schema_name: TextEvent
+          schema_version: 1
+
+      operator:
+        uses: core.passthrough@1
+
+      sink:
+        uses: core.log_sink@1
+        with:
+          logger: cmvr_edge_ai.smoke
+
+    edges:
+      - from: source.output
+        to: operator.input
+        qos:
+          profile: request
+          capacity: 4
+          overflow: block
+
+      - from: operator.output
+        to: sink.input
+        qos:
+          profile: telemetry
+          capacity: 4
+          overflow: block
diff --git a/detect_server/README.md b/detect_server/README.md
new file mode 100644
index 0000000..7c535fc
--- /dev/null
+++ b/detect_server/README.md
@@ -0,0 +1,293 @@
+# PPE 检测流水线
+
+`pipeline.yaml` 是当前可运行的园区施工安全装备检测链路。当前只启用 Construction
+PPE 模型和 8081 告警平台；六类模型与 8082 模拟平台的实现保留但不实例化：
+
+```text
+cmvr-es CameraService
+  -> H264/H265 ImageFrame/v1
+  -> media.video_decoder.pyav@1
+  -> BGR8 ImageFrame/v1
+     -> construction-ppe-yolov8@1 -> DetectionResult/v1
+     -> detection.repeat_gate@1 -> DetectionAlert/v1
+     -> POST 127.0.0.1:8081/v1/detection-alerts
+```
+
+## 安装与启动
+
+从仓库根目录执行一键安装。默认 profile 安装锁定的 CPU 检测环境、生成 cmvr-es
+bindings，并验证 smoke 与本检测配置：
+
+```bash
+cd /home/xtkuang/Projects/cmvr/cmvr_edge_ai
+bash scripts/bootstrap.sh
+```
+
+cmvr-es 不在相邻的 `../cmvr-es` 时指定实际路径：
+
+```bash
+bash scripts/bootstrap.sh \
+  --cmvr-es-root /home/xtkuang/Projects/cmvr/cmvr-es
+```
+
+环境固定 Python 3.10、Ultralytics 8.4.31、PyTorch 2.7.0 CPU 和 torchvision
+0.22.0，并通过 `image` extra 安装 Pillow 以生成告警图片；所有具体包版本记录在
+仓库的 `uv.lock` 中。GPU/Jetson 需要单独适配与驱动或 JetPack 匹配的 PyTorch
+wheel，不能直接复用 `detection-cpu` profile。手动组合依赖时必须显式增加
+`--extra image`，不能只依赖 YOLO 间接安装 Pillow。
+
+直接编辑 `detect_server/pipeline.yaml` 中的部署参数：
+
+```yaml
+endpoints:
+  cmvr_es:
+    target: 127.0.0.1:50052
+  platform:
+    base_url: http://127.0.0.1:8081
+
+pipelines:
+  detection:
+    nodes:
+      camera:
+        with:
+          device_id: right_hand_cam
+          stream_log_interval_s: 5
+      detector:
+        with:
+          attach_frame: true
+          inference_log_interval_s: 5
+          model_options:
+            weights: /home/xtkuang/Projects/cmvr/changan_robot/construction-ppe-yolov8/best.pt
+            device: cpu
+      repeat_gate:
+        with:
+          alert_image:
+            enabled: true
+            jpeg_quality: 85
+      platform:
+        with:
+          failure_mode: log_and_drop
+```
+
+完成配置后启动，不需要再通过 shell `export` 传入这些值：
+
+```bash
+uv run --no-sync cmvr-edge-ai models
+uv run --no-sync cmvr-edge-ai validate \
+  -c detect_server/pipeline.yaml \
+  --pipeline detection
+uv run --no-sync cmvr-edge-ai run -c detect_server/pipeline.yaml \
+  --pipeline detection \
+  --log-level INFO \
+  --log-format json
+```
+
+运行时会看到类似下面两类 JSON 日志：
+
+```json
+{"level":"INFO","logger":"cmvr_edge_ai.detection.operator","message":"detection model loaded node=detector model=construction-ppe-yolov8@1 ..."}
+{"level":"INFO","logger":"cmvr_edge_ai.detection.operator","message":"detection inference node=detector model=construction-ppe-yolov8@1 total_frames=1 window_frames=1 window_detections=2 hit_labels=No-Helmet:2 ..."}
+```
+
+- `detection model loaded`：checkpoint 已成功加载并完成标签顺序校验；当前 detector
+  应出现一条；
+- `detection inference`：模型确实收到解码帧并执行了 `predict`；第一帧立即输出，
+  后续按配置周期聚合；
+- `window_detections=0 hit_labels=none`：模型在工作，但本周期没有高于配置阈值的命中；
+- 只有 loaded、长期没有 inference：优先检查 cmvr-es 相机流、decoder 和关键帧；
+- 短时观察可把 `inference_log_interval_s` 改为 `1` 秒，长期运行建议 `30`～`60` 秒，
+  省略该字段会关闭周期推理日志。
+
+运行前确认 cmvr-es 已启用 `right_hand_cam`、Construction PPE 权重存在，并且 8081
+平台接受 `POST /v1/detection-alerts`。默认 profile 下 `model_options.device` 应设为
+`cpu`；只有完成设备专用的 CUDA/Jetson PyTorch 环境适配后，才能改为 `cuda:0` 等值。
+
+## 模型与标签
+
+`detection.model@1` 不绑定某一个框架；它通过 `DetectionModelRegistry` 查找配置中的
+`model`。每个 `DetectionModelSpec` 注册版本化模型 ID、模型名称、backend 和有序
+`supported_labels`。注册表当前包含两个内置模型，但 Pipeline 只引用第一个：
+
+- `construction-ppe-yolov8@1`：19 类，包含原分支用于违规告警的 `No-*` 标签；
+- `ppe-6classes-yolov8n@1`：`Gloves`、`Vest`、`goggles`、`helmet`、`mask`、
+  `safety_shoe` 六个正向装备标签。
+
+可用 `cmvr-edge-ai models` 核对 ID、名称、backend 和标签顺序。六类模型只表达
+“检测到某件装备”，不包含 `Person` 或 `No-*` 类，也不执行人员/PPE 关联；所以它
+不能直接判断某个人缺少装备。需要这种语义时，仍应增加人员检测、空间关联和缺失
+判定节点，不能把“没有检测到 helmet”直接当成“人员未戴安全帽”。
+
+检测节点的关键参数：
+
+| 参数 | 语义 |
+|---|---|
+| `model` | 必须是已注册的精确模型 ID |
+| `detect_labels` | 本次部署需要的标签；省略表示模型的全部注册标签 |
+| `confidence` | 所有选中标签的默认置信度阈值 |
+| `label_confidence` | 可选的逐标签阈值覆盖 |
+| `max_fps` | 推理启动频率上限；过密的解码帧会被跳过 |
+| `inference_log_interval_s` | 可选推理摘要周期（秒）；首帧立即输出，省略表示关闭周期日志 |
+| `attach_frame` | 是否让 `DetectionResult` 临时附带对应解码帧；生成告警图片时必须为 `true` |
+| `model_options` | backend 私有选项；当前 YOLO 支持 weights、device、imgsz、iou、half、max_det、agnostic_nms |
+
+配置阶段会拒绝未知模型、模型不支持的 `detect_labels`、重复标签和非法阈值。YOLO 加载 checkpoint 时还会严格比较 checkpoint 的实际标签及顺序与注册信息，避免类别编号静默错位。
+
+## 六类逐推理结果分支
+
+这一分支当前默认关闭。恢复后，六类 detector 不连接 repeat gate，而是把每次完成推理产生的
+`DetectionResult/v1` 直接交给第二个 HTTP Sink。其 POST Envelope 的
+`schema` 为 `DetectionResult/v1`，`payload` 示例为：
+
+```json
+{
+  "detections": [
+    {
+      "label": "helmet",
+      "confidence": 0.91,
+      "box": {"x_min": 120.0, "y_min": 60.0, "x_max": 250.0, "y_max": 220.0},
+      "track_id": null
+    }
+  ],
+  "model_id": "ppe-6classes-yolov8n@1",
+  "inference_ms": 34.2,
+  "model_name": "PPE Detection YOLOv8n (6 Classes)"
+}
+```
+
+该结构刻意不同于原分支的 `DetectionAlert/v1`：它没有 `rule_id`、`hit_count`、
+`event_id` 或 `image`，空检测帧也会以空 `detections` 数组上报。`cooldown_ms` 是
+repeat gate 的内部规则配置，不属于 `DetectionAlert` payload。由于
+payload 没有 event ID，HTTP Sink 的 `Idempotency-Key` 回退使用 Envelope
+`trace_id`。这只是模拟的逐结果接口；若平台要求另一套字段命名或嵌套，需要增加
+平台专用转换节点/Sink，而不是仅修改 endpoint。
+
+## 重复触发规则
+
+`detection.repeat_gate@1` 按规则维护滑动时间窗口。规则字段如下：
+
+| 参数 | 语义 |
+|---|---|
+| `id` | 唯一规则 ID，写入告警 |
+| `labels` | 任一标签匹配即视为该规则在当前帧命中 |
+| `min_confidence` | 规则侧最低置信度，可高于 detector 阈值 |
+| `min_hits` | 触发所需的不同帧数 |
+| `window_ms` | 上述命中必须落入的时间窗口 |
+| `cooldown_ms` | 告警后的静默期；期间不累计，结束后重新计数 |
+| `scope` | `source` 按相机统计；`track` 按相机内的 `track_id` 分别统计 |
+
+一次命中按 `(source_id, sequence)` 的不同视频帧计算：同一帧出现多个相同标签框只算一次，重复投递同一帧也不会增加计数。一个规则即使配置多个标签，同一 scope 在一帧内仍只增加一次。`time_source` 可选 `captured`、`received` 或优先采集时间的 `auto`；当前 cmvr-es 成功帧通常没有 `header.timestamp`，示例显式使用 `received`。
+
+`alert_image.enabled` 默认为 `false`；启用后要求 detector 同时配置
+`attach_frame: true`。`jpeg_quality` 是 `1..95` 的整数，默认 85。repeat gate
+只在规则达到 `min_hits`、准备输出告警时，才用 Pillow 在当前阈值帧上绘制匹配的
+bounding boxes、标签和置信度并编码 JPEG，不会为每个推理结果都渲染。告警里的
+`detections` 和图片框均来自阈值帧；窗口内更早的命中只参与次数、时间范围和
+`max_confidence` 统计。
+
+同一阈值帧同时触发多条规则或多个 track 时，repeat gate 对这些告警相关框取并集，
+只画框并编码一次，然后让本帧产生的告警共享该 JPEG，避免在边缘端重复编码。
+非有限坐标、反向/退化框、非法置信度等 detection 会在规则计数前被忽略，并记录在
+`invalid_detections` 健康指标中，避免 `NaN/Inf` 令整个 HTTP JSON 告警无法发送。
+
+当前 YOLO adapter 是逐帧检测，不执行人员跟踪，输出的 `track_id` 为 `None`。因此示例使用 `scope: source`；如果业务要求“同一个人连续多次违规”，必须在 detector 和 repeat gate 之间加入 tracker 及人员/PPE 关联节点，之后才能使用 `scope: track`。
+
+## 相机启动与视频流日志
+
+cmvr-es 的 `StartCamera` 和 `GetRGBImageStream` 是两个不同阶段：前者打开物理相机，
+后者只启动编码和流式传输。连接器在每个首次连接或重连 session 中严格执行：
+
+```text
+StartCamera -> 检查 feedback.header.success -> GetRGBImageStream -> 等待首帧
+```
+
+`StartCamera` 使用 `cmvr_es.timeout_s`；RPC 异常或 `header.success=false` 都进入同一套
+指数退避重连。正常关闭只取消当前 stream，不自动调用设备级 `StopCamera`，避免影响
+同一相机的其他客户端。
+
+使用 `--log-level INFO --log-format json` 时，按顺序关注：
+
+- `camera source configured`：endpoint、device 和超时配置完成；
+- `camera start requested/succeeded`：StartCamera 已被调用并成功；
+- `camera stream opening`：流请求已创建，正在等待第一帧；
+- `camera stream first frame`：已经收到真实编码帧，包含 codec、尺寸、字节数和远程序号；
+- `camera stream progress`：每 `stream_log_interval_s` 秒输出帧数、FPS、bitrate、关键帧、
+  最后序号和 `last_frame_age_s`；即使完全没帧也会输出 `first_frame_received=false`；
+- `camera stream disconnected`：包含错误类型、重连次数和退避时间；
+- `camera stream closed`、`camera source stopped`：当前 session 和本地 Source 已清理。
+
+INFO 日志不会打印帧二进制。示例设置 `stream_log_interval_s: 5` 便于联调，正式部署
+可改为 30～60 秒。
+
+## 视频连续性和背压
+
+H264/H265 是有参考关系的编码流，解码前不能任意丢包：
+
+- `camera -> decoder` 使用 `video_contiguous + block`，保持 edge-ai 内部已经接受的数据连续；
+- decoder 在新 session、编码参数变化、sequence gap 或解码错误后释放上下文，等待下一个关键帧；
+- `decoder -> detector` 已经是完整 BGR 图像，使用 `realtime_latest + drop_oldest` 和容量 1，以有限内存换取较低实时延迟；
+- `detector -> repeat_gate` 在 `attach_frame: true` 时携带未压缩图像，示例把队列容量限制为 2，避免排队的 `DetectionResult` 长时间占用大量内存。
+
+该边使用 `drop_oldest` 偏向低延迟；持续过载时，被丢弃的推理结果不会计入
+`min_hits`。如果业务更重视每次推理结果都参与计数，可改为 `overflow: block`，但要
+接受延迟向上游传播，并继续保持很小的队列容量。
+
+恢复第二模型时，应从 decoder 输出端口 fan-out，以避免第二次相机订阅和第二次
+H264/H265 解码；这不会复用模型计算，两个 YOLO 实例仍会分别加载权重并共享应用的
+有界线程池。
+
+这个保证只覆盖 edge-ai 内部。当前 cmvr-es 服务端通过 `getLatestEncodedFrame` 读取最新编码数据；如果它在负载或时序竞争下已经跳过参考包，`video_contiguous` 无法恢复丢失内容，而且当前 edge-ai 的本地 sequence 不能可靠暴露这种上游跳包。此时 PyAV 可能报错，decoder 会重置并等待关键帧。上线前必须用真实摄像头长时间验证连续性；更稳妥的方案是让 cmvr-es 提供连续 access unit 流，或额外提供原始/JPEG/带显式 discontinuity 的 AI 接口。
+
+相机 Source 默认启用指数退避重连；每次重新订阅生成新的 `session_id`，使 decoder 主动重置。`reconnect_initial_s`、`reconnect_max_s` 和可选 `max_reconnect_attempts` 可配置；省略最大次数表示持续重连直到进程关闭。
+
+## HTTP 输出可靠性
+
+每次规则触发会产生带唯一 `event_id` 的 `DetectionAlert/v1`。HTTP Sink 优先把该
+`event_id` 放入 `Idempotency-Key`，没有事件 ID 时才回退到 `trace_id`。它对连接/超时
+错误和配置的临时 HTTP 状态执行有限指数退避，示例最多尝试 3 次。
+
+`failure_mode` 支持两种明确语义：默认 `raise` 在最终投递失败时让 Pipeline 失败；当前
+检测配置使用 `log_and_drop`，最终连接失败、超时或非 2xx 时输出
+`HTTP report dropped ... action=drop` WARNING，丢弃当前告警并继续处理后续视频帧。
+`CancelledError`、序列化错误和未知本地程序异常不会被吞掉。
+
+当前唯一 HTTP 输出将告警发送到
+`http://127.0.0.1:8081/v1/detection-alerts`。8082 六类逐推理结果 endpoint 当前未配置。
+
+启用告警图片后，POST JSON 的 `payload.image` 结构如下：
+
+```json
+{
+  "media_type": "image/jpeg",
+  "width": 1280,
+  "height": 720,
+  "encoding": "base64",
+  "data": "/9j/4AAQSk..."
+}
+```
+
+`width/height` 是 JPEG 的像素尺寸；HTTP JSON Sink 将内部 JPEG `bytes` 特判为
+上述扁平对象，`encoding` 固定为 `base64`。关闭 `alert_image`，或运行时因第三方
+结果未附带帧、坏帧等原因渲染失败时，告警仍会发送且该字段为 `null`。Base64 会
+额外增加约三分之一的体积，平台和反向代理需要配置足够的请求体上限。
+
+这不是持久化 outbox：`log_and_drop` WARNING 表示该告警已经永久丢失，不会自动补发；
+每次告警在放弃前仍会完成有限重试，因此平台离线时 Sink 队列会短暂阻塞。进程崩溃、
+断电或告警仍在内存队列中时也可能丢失。平台必须按幂等键去重；对“不可丢告警”的
+部署，还需要后续增加有界磁盘 outbox、投递确认和恢复发送。
+
+## 部署风险
+
+- 模型 README 报告某些小样本类别存在漏检，实际园区需要按相机角度、光照、遮挡和距离重新标定置信度与 `min_hits`；规则降噪不能补偿模型系统性漏检。
+- 权重目录对权重许可的描述与 Ultralytics runtime/checkpoint 中的 AGPL 信息需要在商业部署前核对；同时确认训练数据来源和权重再分发权利。
+- `.pt` 使用 PyTorch checkpoint loader，只加载可信构建和受控分发的权重，并固定、验证实际 Ultralytics 8.x 版本。
+
+如果检测结果还要驱动机器人，控制路径必须保持：
+
+```text
+DetectionResult -> policy -> RobotCommand/v1
+                -> safety.robot_command_gate@1
+                -> ApprovedRobotCommand/v1
+                -> cmvr.grpc.agv_command_sink@1
+```
+
+编译器要求 actuator 的每个直接前驱都是安全门，安全门和执行器之间不能插入普通变换节点，也不能存在绕过路径。
diff --git a/detect_server/pipeline.yaml b/detect_server/pipeline.yaml
new file mode 100644
index 0000000..2ce7667
--- /dev/null
+++ b/detect_server/pipeline.yaml
@@ -0,0 +1,180 @@
+api_version: cmvr.edge.ai/v1
+
+runtime:
+  thread_workers: 3
+  shutdown_timeout_s: 8
+
+endpoints:
+  cmvr_es:
+    transport: grpc
+    # cmvr-es gRPC address. Change this value for each deployed robot.
+    target: 192.168.0.102:50052
+    tls: false
+    timeout_s: 5
+    options:
+      max_receive_mb: 32
+
+  platform:
+    transport: http
+    # Violation-alert platform HTTP base URL.
+    base_url: http://127.0.0.1:8081
+    timeout_s: 3
+
+pipelines:
+  detection:
+    enabled: true
+    nodes:
+      camera:
+        uses: cmvr.grpc.camera_rgb_stream@1
+        with:
+          endpoint: cmvr_es
+          device_id: wrist_cam
+          pixel_format: BGR8
+          reconnect: true
+          reconnect_initial_s: 0.5
+          reconnect_max_s: 10
+          # Log stream state immediately on first frame and emit a periodic
+          # progress/stall heartbeat without printing every encoded frame.
+          stream_log_interval_s: 5
+
+      decoder:
+        uses: media.video_decoder.pyav@1
+
+      detector:
+        uses: detection.model@1
+        with:
+          model: construction-ppe-yolov8@1
+          # Omitting detect_labels means all registered labels.  This example
+          # asks the backend to return only PPE violations used by the rules.
+          detect_labels:
+            - No-Boots
+            - No-Ear-Protection
+            - No-Glass
+            - No-Glove
+            - No-Helmet
+            - No-Mask
+            - No-Vest
+          confidence: 0.50
+          max_fps: 10
+          # Log the first completed inference immediately, then aggregate one
+          # heartbeat every 5 seconds so model activity is visible without
+          # printing every frame. Set to 1 for one-second debugging, or omit to disable.
+          inference_log_interval_s: 5
+          # Keep the decoded threshold frame available to repeat_gate so an
+          # annotated alert image can be rendered only when a rule triggers.
+          attach_frame: true
+          model_options:
+            # Model artifact and inference device are deployment configuration,
+            # not process environment requirements.
+            weights: /home/xtkuang/Projects/cmvr/changan_robot/construction-ppe-yolov8/best.pt
+            device: cpu
+            imgsz: 640
+            iou: 0.70
+            half: false
+            max_det: 100
+
+      repeat_gate:
+        uses: detection.repeat_gate@1
+        with:
+          # cmvr-es currently omits capture timestamps on successful stream
+          # frames, so received time is the deterministic deployment default.
+          time_source: received
+          alert_image:
+            enabled: true
+            jpeg_quality: 85
+          rules:
+            - id: no-boots
+              labels: [No-Boots]
+              min_hits: 3
+              window_ms: 2000
+              cooldown_ms: 30000
+              min_confidence: 0.50
+              scope: source
+            - id: no-ear-protection
+              labels: [No-Ear-Protection]
+              min_hits: 3
+              window_ms: 2000
+              cooldown_ms: 30000
+              min_confidence: 0.50
+              scope: source
+            - id: no-glass
+              labels: [No-Glass]
+              min_hits: 3
+              window_ms: 2000
+              cooldown_ms: 30000
+              min_confidence: 0.50
+              scope: source
+            - id: no-glove
+              labels: [No-Glove]
+              min_hits: 3
+              window_ms: 2000
+              cooldown_ms: 30000
+              min_confidence: 0.50
+              scope: source
+            - id: no-helmet
+              labels: [No-Helmet]
+              min_hits: 3
+              window_ms: 2000
+              cooldown_ms: 30000
+              min_confidence: 0.50
+              scope: source
+            - id: no-mask
+              labels: [No-Mask]
+              min_hits: 3
+              window_ms: 2000
+              cooldown_ms: 30000
+              min_confidence: 0.50
+              scope: source
+            - id: no-vest
+              labels: [No-Vest]
+              min_hits: 3
+              window_ms: 2000
+              cooldown_ms: 30000
+              min_confidence: 0.50
+              scope: source
+
+      platform:
+        uses: platform.http_json_sink@1
+        with:
+          endpoint: platform
+          path: /v1/detection-alerts
+          # Platform outages must not stop camera capture or inference. After
+          # bounded retries, log a WARNING and drop only this report.
+          failure_mode: log_and_drop
+          max_attempts: 3
+          retry_initial_s: 0.25
+          retry_max_s: 2
+
+    edges:
+      # Encoded H264/H265 packets must remain contiguous before decode.
+      - from: camera.frames
+        to: decoder.frames
+        qos:
+          profile: video_contiguous
+          capacity: 8
+          overflow: block
+
+      # Once frames are decoded, keeping only the newest frame bounds latency.
+      - from: decoder.frames
+        to: detector.frames
+        qos:
+          profile: realtime_latest
+          capacity: 1
+          overflow: drop_oldest
+
+      - from: detector.detections
+        to: repeat_gate.detections
+        qos:
+          profile: telemetry
+          # DetectionResult carries a decoded frame when attach_frame is enabled;
+          # keep this queue short so raw image buffers cannot accumulate. Under
+          # sustained overload drop_oldest also means dropped results do not count.
+          capacity: 2
+          overflow: drop_oldest
+
+      - from: repeat_gate.alerts
+        to: platform.input
+        qos:
+          profile: telemetry
+          capacity: 64
+          overflow: block
diff --git a/docs/architecture.md b/docs/architecture.md
new file mode 100644
index 0000000..73b5cb6
--- /dev/null
+++ b/docs/architecture.md
@@ -0,0 +1,812 @@
+# cmvr-edge-ai 架构与开发指南
+
+本文描述当前代码已经实现的架构、配置语义和扩展边界。文中的“当前”指运行时 v1；规划能力会明确标注，避免把配置字段误认为已经具备的调度能力。
+
+## 1. 目标与边界
+
+`cmvr-edge-ai` 负责在单台机器人边缘计算设备上，把三类模块可靠地连接起来：
+
+1. 上游数据：cmvr-es 的相机、未来的麦克风音频流，以及平台下发的数据；
+2. 中间 AI：视频解码、检测、VAD、ASR、LLM、TTS、决策和策略；
+3. 下游输出：cmvr-es 的 AGV/机械臂/扬声器控制，以及平台 HTTP/gRPC 接口。
+
+框架刻意保持轻量：默认不依赖 Kafka、Redis、Celery 或 Kubernetes。一个进程内使用 `asyncio` 管理 I/O 和 DAG；需要 CPU/GPU 隔离的插件自行接入有限线程池或常驻 Worker。这样可以在算力、内存和显存有限的边缘端按需增加复杂度。
+
+核心设计约束：
+
+- **配置驱动**：YAML 只选择已注册插件、连接端口并声明 QoS/资源，不执行任意 Python 导入；
+- **协议隔离**：protobuf、HTTP JSON、未来 QUIC 包只在连接器中出现；
+- **内部契约稳定**：算法通过 `Envelope` 和版本化 schema 交流；
+- **有界资源**：所有边都有固定容量，满载行为必须显式配置；
+- **故障显式**：节点异常默认终止 Pipeline；只有连接器显式配置的有界重试和
+  `log_and_drop` 等降级策略可以改变该行为；
+- **控制失效安全**：执行器只接收已批准命令，且其每个直接前驱都必须是安全门；持续运动还依赖 cmvr-es 服务端 lease/deadman。
+
+## 2. 分层架构
+
+```mermaid
+flowchart TB
+    subgraph External["外部系统"]
+        CE["cmvr-es<br/>gRPC / future QUIC"]
+        PLAT["业务平台<br/>HTTP / gRPC"]
+    end
+
+    subgraph Boundary["协议边界"]
+        SRC["Source Connectors"]
+        SNK["Sink Connectors"]
+        POOL["共享 gRPC Channel / HTTP Client"]
+    end
+
+    subgraph Runtime["单进程 asyncio 运行时"]
+        ENV["Envelope + 内部契约"]
+        QUEUE["每条 Edge 的有界队列"]
+        OPS["Operator DAG"]
+        SAFE["Safety Gate"]
+        LIFE["生命周期 / 健康状态 / 优雅退出"]
+    end
+
+    CFG["严格 YAML + 插件注册表 + DAG 编译器"] --> Runtime
+    CE --> SRC
+    PLAT --> SRC
+    SRC --> ENV
+    ENV --> QUEUE --> OPS
+    OPS --> SAFE --> SNK
+    OPS --> SNK
+    SNK --> CE
+    SNK --> PLAT
+    POOL --- SRC
+    POOL --- SNK
+    LIFE --- SRC
+    LIFE --- OPS
+    LIFE --- SNK
+```
+
+### 2.1 配置层
+
+`config/loader.py` 使用 `yaml.safe_load` 读取文件并递归展开环境变量，随后由 Pydantic 严格模型校验。所有模型均设置 `extra="forbid"`，拼错字段会立即失败。
+
+`compiler.py` 继续完成无法只靠字段类型判断的检查：
+
+- `api_version` 必须等于 `cmvr.edge.ai/v1`；
+- 插件必须存在，工厂创建的对象必须与声明的 Source/Operator/Sink 种类一致；
+- Source 不能有入边，Sink 不能有出边，Operator/Sink 至少有一条入边；
+- 端口必须存在，schema 必须相同或其中一端为通配符 `*`；
+- 图必须无环，不能存在重复边；
+- 带 `transport:<name>` 标签的连接器只能引用相同 transport 的 endpoint；
+- 活跃 Pipeline 中不能包含 `enabled: false` 的节点；
+- 每个带 `actuator` 标签 Sink 的直接前驱都必须是带 `safety_gate` 标签的节点，安全门和执行器之间不能插入其他节点；
+- v1 只接受 `execution.mode: async|inline` 和默认单并发语义；保留的 mode/并发字段会在编译期被拒绝；
+- 显式保留 runtime 字段、非 `normal` priority 和非空 resources 会被拒绝，不会被静默忽略；
+- QoS profile 必须是 v1 支持的五种之一，且 overflow 必须符合该 profile 的语义；
+- 直接连接的 `detection.model@1 -> detection.repeat_gate@1` 会检查规则标签确实包含在 detector 本次选择的标签中；
+- 当前未实现的 `max_age_ms` 和 `put_timeout_ms` 不能设置。
+
+`validate` 会实际调用插件工厂，因此也会检查构造函数所需参数、已注册模型 ID 和标签选择；但不会执行组件的 `setup()`。YOLO 权重是否存在、网络连通性、cmvr protobuf 是否存在、PyAV/Ultralytics/Pillow 可选依赖是否可导入，以及 checkpoint 内部标签是否与注册信息一致，要到 `run` 的 setup 或首个编码帧时才检查；启用 `alert_image` 后 Pillow 会在 repeat gate 的 setup 阶段提前检查。
+
+### 2.2 内部契约层
+
+协议边界进入运行时后统一变为：
+
+```text
+Envelope[T]
+├── payload: T
+├── schema_name + schema_version
+├── source_id + sequence
+├── captured_at_ns + received_at_ns
+├── deadline_ns
+├── trace_id + session_id
+└── attributes
+```
+
+`Envelope` 是冻结 dataclass，`attributes` 被复制为只读 mapping。它只保证浅层不可变：如果 payload 是 NumPy 数组等可变对象，发布后必须把它当作只读数据，才能安全地 fan-out 并为以后零拷贝/共享内存保留空间。
+
+当前稳定内部 payload：
+
+| Schema | Python 类型 | 用途 |
+|---|---|---|
+| `ImageFrame/v1` | `ImageFrame` | 编码视频包或解码后的图像 buffer |
+| `AudioChunk/v1` | `AudioChunk` | 连续音频块，包含格式、采样率和 discontinuity 标记 |
+| `DetectionResult/v1` | `DetectionResult` | 检测框、标签、置信度和推理时间；可临时附带对应解码帧供告警节点使用 |
+| `DetectionAlert/v1` | `DetectionAlert` | 规则 ID、模型、scope、时间窗口、命中数、置信度、阈值帧检测框、可选 JPEG 告警图和唯一 event ID |
+| `TextEvent/v1` | `TextEvent` | ASR/LLM/TTS 链路中的文本事件 |
+| `ChatTurn/v1` | `ChatTurn` | 带 session 和历史的对话输入 |
+| `RobotCommand/v1` | `RobotCommand` | 带 TTL、序号和 command ID 的协议无关控制命令 |
+| `ApprovedRobotCommand/v1` | `ApprovedRobotCommand` | 由可信安全门批准后交给执行器的控制命令 |
+
+`PluginSpec` 中的 schema 是编译期契约字符串。当前运行时不会反射检查 payload 的 Python 类型；连接器和算法插件仍应使用 `isinstance` 或自己的严格模型在边界处失败。
+
+### 2.3 组件层
+
+运行时只有三类组件：
+
+| 组件 | 输入/输出 | 核心方法 |
+|---|---|---|
+| `Source` | 无输入，一个或多个输出端口 | `messages()` 返回 async iterator |
+| `Operator` | 一个或多个输入/输出端口 | `process(envelope, input_port)` |
+| `Sink` | 一个或多个输入端口，无输出 | `consume(envelope, input_port)` |
+
+所有组件共享以下生命周期：
+
+```text
+setup(context) -> start() -> 执行 -> health() -> stop()
+```
+
+建议在 `__init__` 只解析轻量参数，在 `setup` 建立网络连接或加载模型，在 `stop` 释放资源并保证幂等。`ComponentContext` 提供 `pipeline_id`、`node_id`、全局 shutdown event，以及 endpoint、共享连接池和节点配置等 metadata。
+
+Operator 可以返回：
+
+- `None`：过滤该消息；
+- `Envelope`：从默认 `output` 端口发送；
+- `Emission(port, envelope)`：从指定端口发送；
+- 上述对象的同步或异步 iterable：一进多出。
+
+Source 也可以直接 yield `Envelope` 或 `Emission`。返回原始 bytes、模型对象或其他未包装值会在产生该值的节点附近报错。
+
+### 2.4 DAG 运行时
+
+当前每个 Pipeline 在一个 asyncio event loop 中运行，每个节点一个 task。`execution.mode: async` 和 `inline` 在 v1 中都由该 task await 组件方法，Operator 和 Sink 每次只处理一个消息。v1 不会复制节点 task，也不提供配置驱动的并行调度。
+
+每条有向边拥有独立队列。一个输出端口 fan-out 到多条边时，同一个只读 Envelope 会送入每个队列；队列之间的容量和丢弃计数独立。注意：路由会等待所有边的 `put()`，因此任意 fan-out 分支使用 `overflow: block` 且消费变慢时，仍会对共同生产者产生背压。希望“平台慢但控制链不停”时，平台分支必须选择合适的丢弃策略，或在后续加入独立 spool。
+
+多个入边到同一节点时，运行时处理最先就绪的边，不保证不同边之间的全局顺序。单条边内部保持 FIFO（`drop_*` 导致的丢弃除外）。
+
+节点自然结束后，其全部出边会关闭；消费者会读完已接受的数据后结束。收到 SIGINT/SIGTERM 时：
+
+1. 设置全局 shutdown event；
+2. 取消 Source task，并先调用 Source 的 `stop()`；
+3. 让 Operator/Sink 在 `shutdown_timeout_s` 内排空队列；
+4. 超时后取消剩余 task、丢弃未处理消息；
+5. 按 setup 的反序释放组件和共享网络客户端。
+
+任何未被组件显式处理的节点执行异常都会包装为带 node ID 的 `NodeExecutionError`，停止
+Pipeline，并由 CLI 以运行错误退出。相机 Source 和平台 HTTP Sink 内部实现了各自明确、
+有界的重连/重试语义；HTTP Sink 还可显式选择 `log_and_drop`，但框架仍不提供通用节点级
+supervisor 或 retry policy。
+
+## 3. 配置参考
+
+### 3.1 根字段
+
+| 字段 | 必填 | 说明 |
+|---|---:|---|
+| `api_version` | 是 | 当前只能是 `cmvr.edge.ai/v1` |
+| `runtime` | 否 | 进程级运行参数 |
+| `endpoints` | 否 | 命名的外部服务连接信息 |
+| `pipelines` | 是 | 至少一个命名 Pipeline |
+
+endpoint、pipeline 和 node 名称只能包含字母、数字、`_`、`-`，且不能以数字开头。端口引用固定使用 `node.port`。
+
+### 3.2 `runtime`
+
+| 字段 | 默认值 | 当前语义 |
+|---|---:|---|
+| `thread_workers` | `4` | 创建共享 `ThreadPoolExecutor`，并通过 ComponentContext 提供给插件 |
+| `max_processes` | `1` | 保留；v1 配置中必须省略，显式设置（即使写默认值）也会被拒绝 |
+| `process_start_method` | `spawn` | 保留；v1 配置中必须省略 |
+| `shutdown_timeout_s` | `10.0` | 优雅排空的最长等待时间 |
+| `health_bind` | `null` | 保留；v1 配置中必须省略，当前不监听健康检查端口 |
+| `reserved_memory_mb` | `0` | 保留；v1 配置中必须省略，当前不执行内存仲裁 |
+
+v1 可配置的 runtime 字段只有 `thread_workers` 和 `shutdown_timeout_s`。边缘端应保持较小的 `thread_workers`；第三方推理库本身还可能创建线程，应同时限制 OpenMP/MKL/模型运行时线程数，避免过度订阅 CPU。
+
+### 3.3 `endpoints.<id>`
+
+| 字段 | 默认值 | 说明 |
+|---|---:|---|
+| `transport` | 无 | 必填，转为小写；当前连接器支持 `grpc`、`http` |
+| `target` | `null` | gRPC 地址，例如 `127.0.0.1:50052` |
+| `base_url` | `null` | HTTP 基础 URL |
+| `bind` | `null` | 为未来 ingress/server 连接器预留 |
+| `tls` | `false` | 仅用于 gRPC channel 是否使用 TLS；HTTP endpoint 禁止设置该字段 |
+| `timeout_s` | `5.0` | 连接器请求超时；流式相机订阅不使用该 unary timeout |
+| `metadata` | `{}` | gRPC metadata 预留；当前 HTTP 连接器把它作为默认 header |
+| `options` | `{}` | 传输私有参数 |
+
+当前 gRPC options 支持：
+
+```yaml
+options:
+  root_certificates: /path/to/ca.pem
+  max_receive_mb: 32
+  max_send_mb: 8
+  channel_options:
+    grpc.keepalive_time_ms: 20000
+```
+
+HTTP 是否使用 TLS 由 `base_url` 的 `https://` scheme 决定，证书验证默认开启；只有隔离测试环境才可显式设置 `options.verify_tls: false`。当前 gRPC `metadata` 尚未自动附加到 RPC，若需要鉴权应在连接器中显式实现。
+
+### 3.4 `pipelines.<id>`
+
+| 字段 | 默认值 | 说明 |
+|---|---:|---|
+| `enabled` | `true` | 未指定 `--pipeline` 时是否启动 |
+| `priority` | `normal` | v1 必须为 `normal`；`low/high` 或数值优先级会因无调度器而被拒绝 |
+| `nodes` | 无 | 至少一个节点 |
+| `edges` | `[]` | 有向连接列表 |
+
+不要在活跃 Pipeline 中保留 `enabled: false` 节点；当前编译器会直接拒绝。要暂时关闭逻辑，请禁用整个 Pipeline 或从图和配置中移除该节点。
+
+### 3.5 `nodes.<id>`
+
+| 字段 | 默认值 | 说明 |
+|---|---:|---|
+| `uses` | 无 | 版本化插件 ID，例如 `cmvr.grpc.camera_rgb_stream@1` |
+| `with` | `{}` | 原样传给插件工厂的参数；Python 模型内字段名为 `params` |
+| `execution` | 见下表 | 调度意图声明 |
+| `resources` | `{}` | 预留资源需求字段；v1 必须保持为空/默认值 |
+| `enabled` | `true` | 当前只允许活跃 Pipeline 中为 `true` |
+
+`execution` 字段：
+
+| 字段 | 默认值 | 允许值/限制 |
+|---|---:|---|
+| `mode` | `async` | v1 支持 `async`、`inline`；`thread/process/model_worker` 为保留值并被编译器拒绝 |
+| `concurrency` | `1` | v1 必须为 `1`，其他值被编译器拒绝 |
+| `max_in_flight` | `null` | 预留；非空值被编译器拒绝 |
+| `timeout_s` | `null` | 预留；非空值被编译器拒绝 |
+| `ordered` | `true` | v1 必须为 `true`，`false` 被编译器拒绝 |
+
+`async` 与 `inline` 当前没有调度差异，都是 event loop 中的单 task、单 in-flight 调用。配置模型保留其他枚举值是为了后续版本演进，不代表 v1 能执行它们；`validate` 会 fail closed，而不是静默退化到 async。
+
+`resources` 模型预留了 `cpu_cores`、`memory_mb`、`gpu_device`、`gpu_memory_mb`、`exclusive_gpu`，但 v1 无法强制执行资源隔离，因此任何非空/非默认声明都会被编译器拒绝。不要依赖“只写说明但不生效”的资源配置；当前应在部署层和插件实现中限制 CPU/GPU。
+
+### 3.6 `edges[]` 与 QoS
+
+```yaml
+- from: camera.frames
+  to: decoder.frames
+  qos:
+    profile: video_contiguous
+    capacity: 8
+    overflow: block
+- from: decoder.frames
+  to: detector.frames
+  qos:
+    profile: realtime_latest
+    capacity: 1
+    overflow: drop_oldest
+```
+
+| 字段 | 默认值 | 当前语义 |
+|---|---:|---|
+| `profile` | `request` | v1 支持 `realtime_latest`、`video_contiguous`、`audio_contiguous`、`request`、`telemetry` |
+| `capacity` | `1` | 队列最大消息数 |
+| `overflow` | `block` | `drop_oldest`、`drop_newest`、`block`、`reject`；`error` 是 `reject` 的兼容别名 |
+| `max_age_ms` | `null` | 已预留；设置后编译失败 |
+| `put_timeout_ms` | `null` | 已预留；设置后编译失败 |
+
+溢出行为：
+
+| 策略 | 队列满时行为 | 适合场景 |
+|---|---|---|
+| `drop_oldest` | 丢掉最旧消息，再接受新消息 | 实时视频，优先处理最新画面 |
+| `drop_newest` | 保留已有消息，拒收这次新消息但不抛异常 | 需要保留已排队批次的低优先级数据 |
+| `block` | 生产者等待空位 | 必须连续的视频编码包、音频或请求；会传播背压 |
+| `reject` / `error` | 抛出队列满异常，Pipeline 失败 | 不能静默丢失且希望监督器介入的控制链 |
+
+v1 强制执行的 profile/overflow 矩阵：
+
+| profile | 允许的 overflow | 典型用途与注意事项 |
+|---|---|---|
+| `realtime_latest` | `drop_oldest`、`drop_newest` | 已解码的完整视频帧；常用容量 `1..2`，优先限制推理延迟 |
+| `video_contiguous` | `block`、`reject`、`error` | H264/H265 等 inter-frame 编码流在解码前不能静默丢包；此保证不覆盖上游在发送前已经丢失的数据 |
+| `audio_contiguous` | `block`、`reject`、`error` | 连续音频不能静默丢弃；阻塞预算必须明确，拒绝时应重建连续性 |
+| `request` | `block`、`reject`、`error` | 请求/控制；使用有限容量和消息 TTL，禁止执行积压旧动作 |
+| `telemetry` | 所有五种策略 | 平台上报；当前无磁盘 spool，按数据重要性选择阻塞、丢弃或失败 |
+
+队列记录入队、出队、水位、丢弃、拒绝和强制关闭丢弃计数，当前可通过 Python `PipelineRuntime.edge_stats()` 获取，尚未暴露为服务指标。
+
+## 4. 内置插件与连接器
+
+运行 `cmvr-edge-ai plugins` 可查看当前实际注册结果。
+
+### 4.1 基础插件
+
+| 插件 ID | 类型 | 端口 | 用途 |
+|---|---|---|---|
+| `core.sequence_source@1` | Source | `output: *` | 有限模拟数据源，用于 smoke/replay |
+| `core.passthrough@1` | Operator | `input: * -> output: *` | 占位和协议无关透传 |
+| `core.log_sink@1` | Sink | `input: *` | 把 Envelope 摘要和 payload 写日志 |
+| `safety.robot_command_gate@1` | Operator | `RobotCommand/v1 -> ApprovedRobotCommand/v1` | TTL、白名单、参数限值、序号与限频，并建立批准边界 |
+
+安全门参数：
+
+```yaml
+with:
+  allowed_actions: [set_velocity, emergency_stop]
+  allowed_devices: [src1100]
+  min_interval_ms: 100
+  max_ttl_ms: 5000
+  enforce_monotonic_sequence: true
+  argument_limits:
+    set_velocity:
+      vx: {min: -0.3, max: 0.3}
+      vy: {min: -0.2, max: 0.2}
+      wz: {min: -0.5, max: 0.5}
+```
+
+`allowed_actions` 必须非空；`allowed_devices` 为空表示不额外限定设备。`max_ttl_ms` 默认 5000，拒绝有效期异常长的命令。`require_limits_for` 可以列出还必须配置参数范围的 action；`set_velocity` 无条件要求 `argument_limits.set_velocity` 同时定义 `vx/vy/wz`。范围边界必须是有限数且 `min <= max`。过期、过快、重放、乱序、未授权、缺少参数或越界命令都会 fail-closed 丢弃并写审计 warning，不会因一条业务拒绝停止整条控制 Pipeline。通过检查后，安全门把原始 `RobotCommand` 包装为带 `approved_by/approved_at_ns` 的 `ApprovedRobotCommand`。
+
+### 4.2 检测模型、解码与触发规则
+
+检测流水线内置三个模型无关插件：
+
+| 插件 ID | 输入 -> 输出 | 语义 |
+|---|---|---|
+| `media.video_decoder.pyav@1` | `ImageFrame/v1 -> ImageFrame/v1` | 用可选 PyAV 保持 H264/H265 decoder context，输出 packed `BGR8`；stream/session/codec/尺寸变化、sequence gap 或解码错误后重置并等待关键帧 |
+| `detection.model@1` | `ImageFrame/v1 -> DetectionResult/v1` | 加载一个已注册模型，在线程池中推理，按部署标签和阈值二次过滤；可附带对应解码帧 |
+| `detection.repeat_gate@1` | `DetectionResult/v1 -> DetectionAlert/v1` | 按不同帧、时间窗口、scope 和 cooldown 把逐帧检测转换为平台告警，仅在规则触发时按需画框并编码 JPEG |
+
+核心包不会强制安装大型视觉运行时。使用解码器安装 `video` extra；告警图的画框和 JPEG 编码由 Pillow 提供，安装独立的 `image` extra；内置 YOLO adapter 提供通用 `yolo` 和固定 CPU wheel 的 `yolo-cpu` 两个互斥 extra。当前 PPE CPU 链路通过 `bash scripts/bootstrap.sh` 一键生成 cmvr-es bindings，并按 `uv.lock` 安装 `grpc + http + video + image + yolo-cpu`。开发环境使用 `bash scripts/bootstrap.sh --profile dev`。PyAV、Pillow 和 Ultralytics 都延迟导入，因此不运行对应检测能力的对话服务不会加载它们。不要依赖 Ultralytics 间接带入 Pillow；手动组合告警图片环境时必须显式选择 `--extra image`。CUDA/Jetson 必须按目标驱动或 JetPack 建立独立依赖源和锁文件。
+
+具体模型不再各自注册一套 DAG 插件。`DetectionModelRegistry` 保存 `DetectionModelSpec`：
+
+| 字段 | 说明 |
+|---|---|
+| `model_id` | 版本化稳定 ID，例如 `construction-ppe-yolov8@1` |
+| `name` | 日志、CLI 和告警中的可读模型名称 |
+| `supported_labels` | 有序、非空、无重复的标签；顺序必须与 backend 类别编号一致 |
+| `backend` | backend 标识，例如 `ultralytics-yolo` |
+| `factory` | 接收 `model_options` 并返回 `DetectionModel` 的工厂 |
+
+`cmvr-edge-ai models` 输出当前 model registry 的 ID、name、backend 和 labels。第三方包可在 `cmvr_edge_ai.detection_models` entry point 中暴露一个 `DetectionModelSpec` 或注册回调。当前内置 `construction-ppe-yolov8@1`（19 类）和 `ppe-6classes-yolov8n@1`（`Gloves/Vest/goggles/helmet/mask/safety_shoe`）；YOLO adapter 在加载时严格比较 checkpoint `model.names` 与各自注册的标签及顺序，避免错误的类别编号继续运行。
+
+`detection.model@1` 参数：
+
+```yaml
+with:
+  model: construction-ppe-yolov8@1
+  detect_labels: [No-Helmet, No-Vest]
+  confidence: 0.5
+  label_confidence:
+    No-Helmet: 0.6
+  max_fps: 10
+  inference_log_interval_s: 5
+  attach_frame: true
+  model_options:
+    weights: /home/xtkuang/Projects/cmvr/changan_robot/construction-ppe-yolov8/best.pt
+    device: cpu
+    imgsz: 640
+```
+
+- `detect_labels` 省略时选择模型注册的全部标签；显式空列表、重复或未知标签会失败；
+- `confidence` 是全局阈值，`label_confidence` 可逐标签覆盖；backend 接收所有选中标签中的最低阈值，通用 Operator 再逐框做严格后过滤；
+- `max_fps` 是推理启动频率上限，跳过的帧不会产生 `DetectionResult`；
+- `inference_log_interval_s` 省略时不输出周期推理日志；配置后第一帧立即输出，之后按
+  周期聚合 `window_frames/window_detections/hit_labels/avg_inference_ms`。模型加载成功
+  始终输出一次 INFO。这样可以区分“权重已加载但没有输入帧”“持续推理但没有命中”与
+  “检测到目标”，同时避免逐帧日志拖慢边缘端；
+- `attach_frame` 默认 `false`；启用时 `DetectionResult` 临时引用对应的解码帧，供 repeat gate 在阈值帧上生成告警图片。由于它携带未压缩图像，detector 到 repeat gate 的队列容量必须保持较小；
+- `model_options` 属于 backend；内置 YOLO 支持 `weights/device/imgsz/iou/half/max_det/agnostic_nms`；
+- YOLO 只接受解码后的 `BGR8/RGB8` packed buffer，并把 `RGB8` 转为 backend 使用的 BGR 顺序；它不运行 tracker，返回的 `track_id` 为 `None`。
+
+示例 detector 到 repeat gate 使用小容量 `drop_oldest` 队列以控制延迟和原始帧内存；
+持续过载时丢弃的推理结果不会参与 `min_hits`。需要每个已完成推理都参与计数时可改
+为 `block`，代价是背压和延迟向上游传播。
+
+如果恢复六类模型，可把同一个 decoder 输出 fan-out 到两个 detector，而不是创建两个
+独立 Pipeline：
+
+```text
+camera -> decoder -> construction detector -> repeat gate -> 8081 alert API
+                  `-> six-class detector -----------------> 8082 result API
+```
+
+该可选双分支方案的两条 `decoder.frames` 出边使用独立的
+`realtime_latest + drop_oldest` 容量 1 队列，
+路由的是同一个只读 `ImageFrame` 引用。这样只建立一个相机 gRPC stream 和一个 PyAV
+decoder；如果把两个分支拆成两个 Pipeline，即使 gRPC channel 可以复用，也会创建
+两个订阅 RPC 和两个 decoder 实例。fan-out 只复用输入，两个 YOLO 模型仍分别加载并
+执行推理，共享进程级有界线程池。示例把六类 YOLOv8n 限制为 5 FPS，避免在尚未完成
+目标硬件测量前让两个 CPU 模型都追赶相机帧率。
+
+六类模型只包含正向装备类，没有 `Person` 或 `No-*` 标签；它的
+`DetectionResult/v1` 表示当前推理帧中“检测到了哪些装备”，不能单独推断某个人
+缺少装备。该分支保持 `attach_frame: false`，绕过 repeat gate，把每个完成推理的
+结果直接发送到 `/v1/ppe-detections`，所以不会生成 `DetectionAlert` 的 `rule_id`、
+`hit_count`、event ID 或告警图字段；`cooldown_ms` 只是 repeat gate 的内部规则配置，
+不属于告警 payload。输出边使用容量 16 的 `telemetry + drop_oldest`，模拟
+平台持续变慢时会优先保留较新的结果；要求逐条可靠送达时应改用可接受背压的策略或
+增加持久 outbox。
+
+`detection.repeat_gate@1` 的 `rules` 每项包含 `id/labels/min_hits/window_ms/cooldown_ms/min_confidence/scope`。一个规则/scope 在同一 `(source_id, sequence)` 帧最多增加一次 hit，不按框数量累加；`window_ms` 内达到 `min_hits` 才输出告警。触发后清空命中窗口，`cooldown_ms` 内的帧不累计，冷却结束后重新计数。`time_source` 支持 `captured/received/auto`；`captured` 缺失会失败，`auto` 优先 captured 后回退 received。
+
+告警图片是 repeat gate 的全局配置，不需要在每条 rule 中重复：
+
+```yaml
+with:
+  time_source: received
+  alert_image:
+    enabled: true
+    jpeg_quality: 85
+  rules:
+    - id: no-helmet
+      labels: [No-Helmet]
+      min_hits: 3
+      window_ms: 2000
+```
+
+`alert_image.enabled` 默认 `false`；启用时上游 detector 必须设置
+`attach_frame: true`。`jpeg_quality` 默认 85，只接受 `1..95` 的整数。Pillow 只在
+规则达到阈值并准备发出告警时绘制 bounding boxes、标签和置信度并编码 JPEG，
+不会为每个 `DetectionResult` 产生图片。
+
+`scope: source` 按相机和规则隔离状态；`scope: track` 还按 `track_id` 隔离，同一 track ID 在不同相机之间不会混合。没有 track ID 的检测会被 track 规则忽略。当前 Construction PPE 告警分支必须使用 `source`；要判断同一个人，需要先增加 tracker 和人员/PPE 关联节点。
+
+每次触发创建 `DetectionAlert.event_id`。告警的 `detections` 和图片中的 bounding boxes 只来自达到 `min_hits` 的阈值帧，以控制内存和 HTTP payload；窗口内更早帧只参与 `labels/max_confidence/first_seen/last_seen/hit_count` 的聚合。内部可选图片为 JPEG bytes；HTTP wire 中 `payload.image` 被序列化为扁平对象：
+
+```json
+{
+  "media_type": "image/jpeg",
+  "width": 1280,
+  "height": 720,
+  "encoding": "base64",
+  "data": "/9j/4AAQSk..."
+}
+```
+
+关闭图片，或因第三方结果未附带帧、坏帧等原因渲染失败时，告警仍会发送且
+`payload.image` 为 `null`；证据图失败不能阻断结构化告警。Base64 比原始 JPEG
+额外增加约三分之一体积，平台入口和反向代理必须设置相应的请求体上限。
+同一阈值帧同时触发多条规则或多个 track 时，节点对所有相关告警框取并集并只编码
+一次，再让这些告警共享同一个不可变 JPEG，从而限制瞬时 CPU 与内存开销。
+非有限坐标、反向/退化框、非法置信度或 track ID 的 detection 会在规则计数前被
+忽略并增加 `invalid_detections` 健康计数，防止 `NaN/Inf` 破坏整个 HTTP JSON。
+
+### 4.3 cmvr-es gRPC 连接器
+
+`cmvr.grpc.camera_rgb_stream@1`：
+
+- 参数：`endpoint`、必填 `device_id`、可选 `pixel_format`（默认 `BGR8`）、
+  `stream_log_interval_s`（默认 30 秒），以及
+  `reconnect/reconnect_initial_s/reconnect_max_s/max_reconnect_attempts`；
+- 每个首次连接和重连 session 都先调用 unary `CameraService.StartCamera`，复用 endpoint
+  的 `timeout_s`，并检查业务反馈 `header.success/error_message`；只有成功后才调用
+  `CameraService.GetRGBImageStream`。这两步不能省略：前者打开物理相机，后者在服务端
+  启动编码流；
+- 发送一次订阅请求并保持 request side，兼容当前 cmvr-es 行为和未来真正双向协议；
+- 把 `color_frame` 转为 `ImageFrame/v1`，保留 codec、关键帧、内参、序号和时间戳；
+- 默认在 Start RPC、断流、流 RPC 或业务失败后指数退避重连；每次尝试使用新的
+  `session_id`，收到一帧后重置连续失败计数；`max_reconnect_attempts` 省略表示持续尝试；
+- INFO 日志覆盖 source configured、StartCamera 请求/成功、stream opening、首帧、周期
+  progress、stream close 和 source stop；WARNING/ERROR 覆盖业务反馈错误、断流、重连与
+  重试耗尽。progress 即使尚未收到首帧也会定时输出，并报告帧数、吞吐、关键帧、
+  codec、尺寸和最后一帧年龄，但不会输出图像 bytes；
+- stop 时主动 cancel stream，并且等待重连期间也能被 shutdown event 立即打断。默认
+  不调用设备级 `StopCamera`，避免中断同一相机的其他客户端；
+- 不做 H264 解码，编码包必须交给有状态解码器插件。
+
+重连不能修复 cmvr-es 生产端已经丢失的编码包。当前 cmvr-es 服务端使用 `getLatestEncodedFrame` 取得最新数据，负载或时序竞争可能在 edge-ai 看到数据之前跳过 H264/H265 参考包；本地 `video_contiguous` 只保护已经入队的数据，而且 camera Source 的本地 sequence 不能可靠表示这种上游跳包。decoder 遇到 FFmpeg 错误会重置并等待关键帧，但上线前仍应验证服务端提供连续 access unit，或增加原始/JPEG/显式 discontinuity 的 AI 接口。
+
+`cmvr.grpc.agv_command_sink@1`：
+
+- 参数：`endpoint` 和固定、非空的 `device_id`；一个 Sink 只绑定一台设备；
+- 输入必须为 `ApprovedRobotCommand/v1`，直接传入原始 `RobotCommand` 会被拒绝；
+- 支持 `emergency_stop`、`clear_fault`、`pause_navigation`、`resume_navigation`、`cancel_navigation`、`stop_velocity_control`、`stop_mapping` 和 `set_velocity`；
+- `set_velocity` 默认禁用；只有显式设置 `unsafe_allow_unleased_velocity: true`，并在 Sink 再配置完整 `velocity_limits.vx/vy/wz` 后才会发出；
+- `set_velocity` 的 `vx/vy/wz` 必须是有限数，并同时通过安全门和 Sink 两层范围校验；
+- 同时检查 gRPC 调用异常与响应 `header.success`，并把 RPC timeout 限制在命令剩余 TTL 内；
+- 不自动重试运动命令；正常关闭时若曾成功发送速度，会尽力调用 `stopVelocityControl`。
+
+下面只展示 actuator 节点的危险参数；该节点仍必须直接连接前述安全门。此开关只应用于架空轮、受控台架等隔离环境：
+
+```yaml
+actuator:
+  uses: cmvr.grpc.agv_command_sink@1
+  with:
+    endpoint: cmvr_es
+    device_id: src1100
+    unsafe_allow_unleased_velocity: true
+    velocity_limits:
+      vx: {min: -0.3, max: 0.3}
+      vy: {min: -0.2, max: 0.2}
+      wz: {min: -0.5, max: 0.5}
+```
+
+`unsafe_allow_unleased_velocity` 必须是 YAML 布尔字面量，字符串 `"true"/"false"` 会被拒绝。该 override 不是 crash-safety：edge-ai 被 `SIGKILL`、崩溃、断电或与 cmvr-es 网络分区时，Python `stop()` 没有机会可靠执行。真实机器人必须由 cmvr-es 服务端持有速度 lease，并在 lease/heartbeat 超时后独立执行清零和停车。
+
+### 4.4 平台 HTTP 连接器
+
+`platform.http_json_sink@1` 接收任意 schema：
+
+- 参数：`endpoint`、`path`（默认 `/`）、`max_attempts`（默认 3）、`retry_initial_s`、`retry_max_s` 和 `retry_statuses`；
+- POST Envelope 元数据、输入端口、attributes 和 payload；
+- bytes 转换为 `{encoding: base64, data: ...}`；
+- `EncodedImage` 特判为 `media_type/width/height/encoding/data` 同层的扁平对象，避免 `payload.image.data` 再嵌套一层；
+- payload 有非空 `event_id` 时以它作为 `Idempotency-Key`，否则使用 `trace_id`；平台仍必须真正实现按键去重；
+- 对连接/超时类错误以及默认 `408/425/429/500/502/503/504` 执行有限指数退避；不在
+  allowlist 的状态不会重试；最终失败由 `failure_mode` 决定：`raise` 抛异常，
+  `log_and_drop` 输出 WARNING、丢弃当前报告并继续；
+- 没有持久化 outbox/spool。有限重试只存在于当前进程内，崩溃、断电或重启不会恢复尚未投递的告警。
+
+同一个通用 Sink 可以按节点配置不同的 endpoint 和 path。当前检测配置只把
+`DetectionAlert/v1` 发到 `http://127.0.0.1:8081/v1/detection-alerts`。若恢复六类模型，
+可把每次推理的 `DetectionResult/v1` 发到独立 endpoint；它与告警复用 Envelope JSON
+外层，但 payload 契约不同，且没有 event ID，幂等键会回退为 `trace_id`。Sink 不支持
+通过 YAML 重命名或重排 payload 字段，如果目标平台要求自定义 wire contract，应增加
+平台专用转换节点或 Sink。
+
+运行时对未处理异常采用 fail-fast。HTTP Sink 默认 `failure_mode: raise`，最终发送失败
+会终止它所在的 Pipeline；当前 8081 告警 Sink 显式使用 `log_and_drop`，所以平台离线只会
+产生 WARNING 并丢弃对应告警，不会停止相机和检测。该模式不是可靠投递机制。
+
+## 5. 插件开发约定
+
+### 5.1 创建组件
+
+插件工厂固定接收 `node_id: str` 与 `params: Mapping[str, Any]`，应在构造阶段检查无需 I/O 的必填参数。下面展示一个最小 Operator：
+
+```python
+from collections.abc import Mapping
+from typing import Any
+
+from cmvr_edge_ai.contracts import TextEvent
+from cmvr_edge_ai.core import Emission, Envelope, Operator
+
+
+class UppercaseOperator(Operator):
+    def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
+        self._node_id = node_id
+        self._prefix = str(params.get("prefix", ""))
+
+    async def process(
+        self,
+        envelope: Envelope[Any],
+        input_port: str = "input",
+    ) -> Emission:
+        del input_port
+        event = envelope.payload
+        if not isinstance(event, TextEvent):
+            raise TypeError(
+                f"{self._node_id} expected TextEvent, got {type(event).__name__}"
+            )
+        result = TextEvent(
+            text=self._prefix + event.text.upper(),
+            role=event.role,
+            final=event.final,
+        )
+        return Emission(
+            "output",
+            envelope.with_payload(
+                result,
+                schema_name="TextEvent",
+                schema_version=1,
+            ),
+        )
+```
+
+使用 `with_payload()` 可以保留 trace、session、sequence、采集时间和 deadline，只更新载荷与接收时间。除非开始了一次新的独立请求，不要随意生成新的 `trace_id`。
+
+### 5.2 注册 PluginSpec
+
+```python
+from cmvr_edge_ai.plugins import PluginKind, PluginRegistry, PluginSpec
+
+
+def register_plugins(registry: PluginRegistry) -> None:
+    registry.register(
+        PluginSpec(
+            plugin_id="example.text_upper@1",
+            kind=PluginKind.OPERATOR,
+            factory=UppercaseOperator,
+            inputs={"input": "TextEvent/v1"},
+            outputs={"output": "TextEvent/v1"},
+            description="Uppercase a text event",
+            tags=frozenset({"domain:dialogue"}),
+        )
+    )
+```
+
+规则：
+
+- ID 必须包含版本，例如 `@1`；不兼容的端口或参数变更发布新版本；
+- Source 不能声明 input，Sink 不能声明 output；
+- 端口名必须与组件实际发送/接收的端口一致；
+- 使用精确 schema；只在真正协议无关的调试/路由节点使用 `*`；
+- 执行器 Sink 加 `actuator` 标签，并只声明/接受 `ApprovedRobotCommand/v1`；安全节点加 `safety_gate` 标签并完成 `RobotCommand -> ApprovedRobotCommand` 转换；不要为了通过编译给普通变换节点冒充安全标签；连接器加 `transport:grpc` 等标签；
+- 同一个 ID 重复注册会失败。
+
+### 5.3 通过 entry point 发布
+
+第三方插件包的 `pyproject.toml`：
+
+```toml
+[project]
+name = "cmvr-edge-ai-example-plugin"
+version = "0.1.0"
+dependencies = ["cmvr-edge-ai>=0.1,<0.2"]
+
+[project.entry-points."cmvr_edge_ai.plugins"]
+example = "my_cmvr_plugin.plugins:register_plugins"
+```
+
+entry point 可以直接导出一个 `PluginSpec`，也可以像示例一样导出接收 registry 的回调。安装包后，默认 registry 会在 CLI 启动时发现它。只安装可信插件：entry point 是 Python 可执行代码，虽然 YAML 本身不能任意导入模块，已安装插件仍拥有当前进程权限。
+
+### 5.4 阻塞计算与模型
+
+禁止直接在 `process()` 中执行长时间阻塞 I/O 或 Python/模型推理，否则整个 event loop 的 gRPC、HTTP、队列和其他 Pipeline 都会停顿。
+
+框架提供 `workers.run_blocking()`。插件在 `setup()` 中取得应用共享的有界线程池，再显式 offload：
+
+```python
+from cmvr_edge_ai.workers import run_blocking
+
+async def setup(self, context):
+    self._thread_executor = context.metadata["thread_executor"]
+
+async def process(self, envelope, input_port="input"):
+    result = await run_blocking(
+        self._blocking_infer,
+        envelope.payload,
+        executor=self._thread_executor,
+    )
+    return envelope.with_payload(
+        result,
+        schema_name="DetectionResult",
+        schema_version=1,
+    )
+```
+
+线程 offload 适合释放 GIL 的推理库或阻塞 SDK。不要省略 `executor` 后假定 `runtime.thread_workers` 仍然生效；未指定 executor 时会落到宿主 event loop 的默认 executor。
+
+纯 Python CPU 密集任务、大模型或需要故障隔离的模型应由插件维护常驻进程/模型 Worker；不要每帧创建进程或重复加载模型。框架提供 `PersistentProcessWorker` 作为小型基础设施：它使用一个常驻子进程、有界请求/结果队列、串行关联和可选超时，并把子进程异常还原为 `RemoteWorkerError`。请求一旦超时或在途取消，Worker 会标记为 `poisoned` 并拒绝后续 submit，避免迟到结果被误配；插件必须 stop 后新建 Worker。插件仍负责在 `setup/start` 创建和启动它、在 `stop` 回收它，并确保 `spawn` 模式下 factory/payload 可序列化。
+
+在 v1 配置中，节点仍必须使用 `execution.mode: async`（默认）或 `inline`，且保持默认单并发字段。`thread|process|model_worker` 以及非默认并发字段会在编译期被拒绝。上面的线程/进程 helper 是组件内部显式调用的实现细节，框架不会根据 YAML 自动 offload。插件需要自行限制 in-flight 数量并在 `stop()` 回收 Worker。若跨进程发送大图像，优先传编码数据；确认复制成为瓶颈后再实现固定大小共享内存池，并只通过 IPC 传 slot/shape/dtype/时间戳。
+
+### 5.5 开发新协议连接器
+
+新增 gRPC、HTTP、UDP 或 QUIC 支持时，应把 wire format 的解析和错误映射放在 `connectors/`/`transports/`，对 DAG 只暴露内部契约：
+
+```text
+wire message -> 校验 -> 内部 payload -> Envelope -> AI Operators
+AI result -> typed command/event -> wire message -> external service
+```
+
+不要让算法插件导入 `*_pb2`。连接器应：
+
+- 在 `setup` 获取/建立连接，在 `stop` 取消 stream 并释放资源；
+- 为每条消息保留设备 ID、序号、采集时间、trace/session；
+- 区分 transport failure 与业务响应失败；
+- 明确超时、重连、幂等和背压策略；
+- 对流式编码数据保持状态，不能把任意 H264 packet 当作独立图片；
+- 为音频丢包/重连产生 `discontinuity`，不能静默拼接不连续 PCM；
+- 对控制接口使用显式 action 到 RPC 的白名单映射，禁止从配置反射任意方法名。
+- 新增控制 Sink 时只接受 `ApprovedRobotCommand`，并要求安全门成为图上的直接前驱；不要兼容接收原始 `RobotCommand`。
+
+gRPC transport 已提供有界的 `BidiRequestStream` 请求迭代器，可供未来真正的双向音频 RPC 使用。它限制为单消费者，正常 close 会排空已接受请求并原子唤醒被背压阻塞的 producer；若 gRPC 放弃迭代器则丢弃无法再发送的请求。它只解决 request side 的背压与关闭，不包含任何音频 proto、重连、响应解析或扬声器策略；这些仍属于具体连接器。
+
+## 6. 并发和资源模型
+
+当前真实执行关系如下：
+
+```mermaid
+flowchart LR
+    MAIN["一个 Python 进程"] --> LOOP["一个 asyncio event loop"]
+    LOOP --> P1["Pipeline A: 每节点一个 task"]
+    LOOP --> P2["Pipeline B: 每节点一个 task"]
+    LOOP --> TP["共享有界 ThreadPoolExecutor"]
+    P1 -. "插件显式 workers.run_blocking" .-> TP
+    P2 -. "插件显式 workers.run_blocking" .-> TP
+    P1 -. "插件自行实现" .-> MW["可选常驻进程/Model Worker"]
+```
+
+多个 Pipeline 共用同一 event loop、gRPC ChannelPool、HttpClientPool 和应用线程池。同名 endpoint 会复用客户端；同一 endpoint ID 如果请求了冲突的 settings 会报错。线程池只通过 `ComponentContext.metadata["thread_executor"]` 提供；`execution.mode: thread` 在 v1 是非法保留值，不会自动调用线程池。
+
+共享 gRPC channel 不等于共享流式 RPC 或 Source 实例。两个 Pipeline 各自配置同一
+camera node 时会建立两个订阅并重复解码；同一物理输入需要供多个模型使用时，应优先
+在一个 Pipeline 内从 decoder 的输出端口 fan-out。每个 fan-out 分支仍应使用独立的
+小容量队列，避免慢模型把实时图像积压在内存中。
+
+边缘端容量规划建议：
+
+- 优先减少输入帧率、分辨率和队列容量，不用无界缓存换吞吐；
+- 同一 GPU 上尽量复用一个常驻模型实例，避免每 Pipeline 重复加载；
+- 编码视频在 decoder 前使用 `video_contiguous`，不能用 latest-frame 丢包；只有 decoder 输出完整图像后，才能在推理前使用 `realtime_latest` 主动丢旧帧；当前运行时不会根据 deadline 自动丢弃；
+- 音频需要连续性，不能照搬视频的 `drop_oldest`；
+- 平台上报与机器人控制使用不同边，并为非关键遥测选择非阻塞溢出策略；
+- 通过实际端到端延迟、queue high watermark、drop counter 和显存峰值决定是否引入进程/共享内存。
+
+## 7. 控制安全模型
+
+机器人控制链必须保持以下形态：
+
+```text
+AI 结果 -> Policy -> RobotCommand/v1
+                    -> Safety Gate
+                    -> ApprovedRobotCommand/v1
+                    -> 类型化执行器 Sink
+```
+
+这里有四层进程内防线：
+
+1. 编译器要求 `actuator` 的每个直接前驱都带 `safety_gate` 标签；安全门与 Sink 之间不能插入转换/透传节点，也不能增加旁路输入；
+2. 安全门只接收 `RobotCommand/v1`，检查通过后才输出 `ApprovedRobotCommand/v1`；
+3. AGV Sink 的端口 schema 和运行时类型检查都只接受 `ApprovedRobotCommand`；
+4. AGV Sink 只支持明确列出的 action，不会根据配置字符串反射调用任意 gRPC 方法，也不会自动重试运动命令。
+
+`ApprovedRobotCommand` 是进程内类型边界，不是加密签名。只有可信插件可以被安装并赋予 `safety_gate` 标签；恶意或被篡改的 Python 插件仍拥有当前进程权限，因此插件供应链、包版本锁定和文件完整性属于安全模型的一部分。
+
+当前安全门已经检查：
+
+- payload 必须是 `RobotCommand`；
+- Envelope deadline 和 `RobotCommand.valid_until_ns`；
+- action 白名单；
+- 可选 device 白名单；
+- 为 action 配置的每个参数必须存在、是有限数并位于 `[min, max]`；
+- `set_velocity` 必须为 `vx/vy/wz` 配置完整范围；`require_limits_for` 可把同一规则扩展到其他 action；
+- 默认按 `(device, action)` 拒绝 sequence 重放和乱序；
+- 同一 `(device, action)` 的最小发送间隔。
+
+投入真实机器人前仍必须由机器人型号相关 Policy/Safety 插件补齐：
+
+- 除已配置参数范围外的速度、位置、加速度和 jerk 联合约束；
+- 当前模式、故障、急停、定位质量、电量及障碍物状态；
+- command ID 去重和多来源优先级仲裁；
+- 急停独立高优先级路径和权限控制；
+- 审计日志、认证、TLS 和密钥管理。
+
+最重要的边界位于进程外：持续速度命令必须由 cmvr-es 服务端发放短期 lease，并由独立 deadman 在续租/heartbeat 超时后清零速度。当前 Sink 会在调用前检查 TTL，并把客户端 RPC timeout 截断到剩余 TTL，但当前 cmvr-es 请求没有承载 `valid_until/command_id/sequence`，服务端无法据此拒绝网络中迟到的命令。`unsafe_allow_unleased_velocity`、客户端 TTL、安全门以及 Sink `stop()` 都不能覆盖进程崩溃、`SIGKILL`、断电或网络分区。cmvr-es 未实现 server-side lease/deadman 前，`set_velocity` 只允许在隔离测试环境使用，禁止用于真实机器人持续运动。
+
+运动命令默认不重试。只有外部 API 提供明确幂等契约，并完成 command ID 去重后，才能为特定 action 增加有界重试。
+
+## 8. 运维流程
+
+推荐发布/启动顺序：
+
+1. 安装固定版本的核心包和可信插件包；
+2. 如果使用 cmvr-es gRPC 连接器，安装匹配 cmvr-es proto 版本的 `cmvr-api` wheel，或运行 stub 生成脚本；
+3. 在部署 YAML 中配置 endpoint、证书引用、模型路径和推理设备；凭据应通过部署平台的 secret 机制注入；
+4. 执行 `cmvr-edge-ai plugins` 和 `cmvr-edge-ai models`，保存实际插件、模型及标签清单；
+5. 执行 `cmvr-edge-ai validate -c ...`；
+6. 确认 cmvr-es 设备启用、设备 ID 正确、平台接口可达；
+7. 先运行回放/smoke，再连接真实传感器；
+8. 控制链先使用空载/限速/人工急停条件验证；
+9. 使用 SIGTERM 停止并给 `shutdown_timeout_s` 留出排空时间。
+
+示例命令：
+
+```bash
+uv run --no-sync cmvr-edge-ai models
+uv run --no-sync cmvr-edge-ai validate -c detect_server/pipeline.yaml --pipeline detection
+uv run --no-sync cmvr-edge-ai run -c detect_server/pipeline.yaml \
+  --pipeline detection \
+  --log-level INFO \
+  --log-format json
+```
+
+当前日志可输出文本或单行 JSON。日志中不要写入音频原始数据、图像 base64、认证 metadata 或用户隐私内容；生产插件应只记录 trace ID、schema、耗时、尺寸、丢弃计数和经过脱敏的错误信息。
+
+## 9. 当前限制与演进顺序
+
+### 9.1 当前限制
+
+- cmvr-es 音频双向流 proto 尚未实现；框架只有 `AudioChunk` 契约和对话占位配置；
+- 检测链路已经提供 PyAV H264/H265 解码、双 PPE YOLO 注册/推理、单次解码 fan-out 和重复触发规则；VAD、ASR、LLM、TTS 仍需插件提供；
+- UDP/QUIC 只有扩展目录，无 transport/connector；
+- execution v1 只支持 `async/inline` 默认单并发；其他 mode 和非默认并发字段会在编译期拒绝，线程/进程/模型 offload 必须由插件显式实现；
+- 非空 resources、非 `normal` priority 和显式保留 runtime 字段都会被拒绝；`health_bind` 未启动服务，队列指标也未导出；
+- 无热更新、overlay、通用节点级 supervisor/restart、持久化 outbox/spool；相机和 HTTP 的重连/重试是 connector 内部的局部策略；
+- 无自动 deadline 丢弃、`max_age_ms`、`put_timeout_ms`；
+- 无共享内存池；跨进程 Worker 由插件负责；
+- 配置只支持单个 YAML 加环境变量，不支持 include/merge；
+- 当前 cmvr-es 相机成功响应通常未填写 `header.timestamp`，因此连接器的 `captured_at_ns` 可能为 `null`；精确采集时延需要后续在帧协议中增加设备采集时钟，不能用客户端接收时间冒充；
+- cmvr-es 当前通过 `getLatestEncodedFrame` 取得最新编码数据，可能在 edge-ai 收到之前跳过 inter-frame 参考包；本地连续队列和重连无法补回上游丢失内容，必须验证/改造服务端流语义；
+- HTTP Sink 对告警使用 `event_id`、对普通逐帧结果回退使用 `trace_id` 作为幂等键，并
+  提供有限退避和 `raise/log_and_drop` 终态策略，但没有持久投递；`log_and_drop` 的
+  WARNING 即表示该报告已丢失，进程崩溃或断电也可能丢失内存中的输出；
+- 内置 YOLO adapter 不产生 `track_id`，所以 `scope: track` 需要外部 tracker 及人员/PPE 关联节点；
+- PPE `.pt` 只能来自可信制品源；商业部署还需核对权重说明、Ultralytics runtime/checkpoint 的 AGPL/商业许可，以及训练数据和权重分发权利；
+- AGV `set_velocity` 默认禁用；unsafe override 和正常 shutdown stop 都不具备崩溃安全性，不能替代 cmvr-es server-side lease/deadman、机器人本体限位、急停和功能安全系统。
+
+### 9.2 推荐演进顺序
+
+1. **真实流与模型验收**：用录制数据和目标边缘设备验证 cmvr-es 编码连续性、PyAV 长时间恢复、PPE 精度/FPS/内存/显存和端到端告警；
+2. **可靠告警投递**：在现有 event ID 和有限重试之上增加有界持久 outbox、确认、恢复发送和容量/保留策略；
+3. **同人违规语义**：增加 tracker 与 Worker/PPE 空间关联，验证 ID switch 后再启用 `scope: track`；
+4. **补齐可观测性**：导出 health、队列水位/丢弃、重连/重试、节点延迟和模型资源指标；
+5. **控制安全闭环**：先在 cmvr-es 实现速度 lease/server-side deadman，再补齐设备状态输入、机器人型号限值、优先级与审计，然后才启用真实 AGV/机械臂动作；
+6. **接入音频双向流**：proto 落地后实现麦克风 Source/扬声器 Sink，严格处理 chunk 顺序、背压和 discontinuity；
+7. **按测量结果优化并发**：先使用现有显式 thread offload，再按测量结果增加常驻 model/process worker；确认复制瓶颈后才加入共享内存；
+8. **扩展协议**：用相同内部契约实现 QUIC/UDP connector，不修改算法插件。
+
+每一步都应先通过 `validate`、smoke、录制数据 replay 和资源峰值检查，再接入真实设备。
diff --git a/pyproject.toml b/pyproject.toml
new file mode 100644
index 0000000..7f2c28d
--- /dev/null
+++ b/pyproject.toml
@@ -0,0 +1,91 @@
+[build-system]
+requires = ["setuptools>=68", "wheel"]
+build-backend = "setuptools.build_meta"
+
+[project]
+name = "cmvr-edge-ai"
+version = "0.1.0"
+description = "Configuration-driven AI pipeline runtime for CMVR robot edge devices"
+readme = "README.md"
+requires-python = ">=3.10,<3.13"
+dependencies = [
+  "pydantic>=2.8,<3",
+  "PyYAML>=6,<7",
+]
+
+[project.optional-dependencies]
+grpc = [
+  "grpcio>=1.76,<2",
+  "protobuf>=6.31.1,<7",
+]
+http = [
+  "httpx>=0.27,<1",
+]
+video = [
+  "av>=12,<17",
+]
+image = [
+  "Pillow>=10,<13",
+]
+yolo = [
+  "numpy>=1.24,<3",
+  "ultralytics==8.4.31",
+]
+yolo-cpu = [
+  "numpy>=1.24,<3",
+  "torch==2.7.0",
+  "torchvision==0.22.0",
+  "ultralytics==8.4.31",
+]
+
+[dependency-groups]
+test = [
+  "pytest>=7.4,<9",
+  "pytest-asyncio>=0.23,<1",
+]
+codegen = [
+  "grpcio-tools>=1.76,<2",
+]
+dev = [
+  { include-group = "test" },
+  { include-group = "codegen" },
+]
+
+[project.scripts]
+cmvr-edge-ai = "cmvr_edge_ai.cli:main"
+
+[tool.setuptools]
+package-dir = {"" = "src"}
+
+[tool.setuptools.packages.find]
+where = ["src"]
+
+[tool.uv]
+required-version = ">=0.11.16"
+default-groups = []
+conflicts = [
+  [
+    { extra = "yolo" },
+    { extra = "yolo-cpu" },
+  ],
+]
+required-environments = [
+  "sys_platform == 'linux' and platform_machine == 'x86_64' and python_version == '3.10'",
+]
+
+[tool.uv.sources]
+torch = [
+  { index = "pytorch-cpu", extra = "yolo-cpu", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" },
+]
+torchvision = [
+  { index = "pytorch-cpu", extra = "yolo-cpu", marker = "sys_platform == 'linux' and platform_machine == 'x86_64'" },
+]
+
+[[tool.uv.index]]
+name = "pytorch-cpu"
+url = "https://download.pytorch.org/whl/cpu"
+explicit = true
+
+[tool.pytest.ini_options]
+testpaths = ["tests"]
+addopts = "-q"
diff --git a/scripts/__pycache__/generate_cmvr_stubs.cpython-312.pyc b/scripts/__pycache__/generate_cmvr_stubs.cpython-312.pyc
new file mode 100644
index 0000000..79eabaa
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diff --git a/scripts/bootstrap.sh b/scripts/bootstrap.sh
new file mode 100755
index 0000000..960aee7
--- /dev/null
+++ b/scripts/bootstrap.sh
@@ -0,0 +1,161 @@
+#!/usr/bin/env bash
+set -euo pipefail
+
+SCRIPT_DIR="$(cd -- "$(dirname -- "${BASH_SOURCE[0]}")" && pwd)"
+PROJECT_ROOT="$(cd -- "${SCRIPT_DIR}/.." && pwd)"
+
+profile="detection-cpu"
+cmvr_es_root="${PROJECT_ROOT}/../cmvr-es"
+skip_codegen=false
+skip_check=false
+
+usage() {
+  cat <<'EOF'
+Usage: bash scripts/bootstrap.sh [options]
+
+Create the locked uv environment, optionally generate cmvr-es Python bindings,
+and run basic health checks.
+
+Options:
+  --profile PROFILE     core, detection-cpu (default), or dev
+  --cmvr-es-root PATH   cmvr-es checkout (default: sibling ../cmvr-es)
+  --skip-codegen        do not generate cmvr-es protobuf/gRPC bindings
+  --skip-check          install only; skip validation and tests
+  -h, --help            show this help
+
+Profiles:
+  core            framework and simulated talk/smoke pipeline only
+  detection-cpu   gRPC + HTTP + PyAV + locked CPU YOLO runtime
+  dev             detection-cpu plus tests and portable protobuf codegen tools
+EOF
+}
+
+while (($#)); do
+  case "$1" in
+    --profile)
+      if (($# < 2)); then
+        echo "error: --profile requires a value" >&2
+        exit 2
+      fi
+      profile="$2"
+      shift 2
+      ;;
+    --cmvr-es-root)
+      if (($# < 2)); then
+        echo "error: --cmvr-es-root requires a path" >&2
+        exit 2
+      fi
+      cmvr_es_root="$2"
+      shift 2
+      ;;
+    --skip-codegen)
+      skip_codegen=true
+      shift
+      ;;
+    --skip-check)
+      skip_check=true
+      shift
+      ;;
+    -h|--help)
+      usage
+      exit 0
+      ;;
+    *)
+      echo "error: unknown argument: $1" >&2
+      usage >&2
+      exit 2
+      ;;
+  esac
+done
+
+case "${profile}" in
+  core)
+    sync_args=(--locked --no-default-groups)
+    needs_cmvr_bindings=false
+    ;;
+  detection-cpu)
+    sync_args=(
+      --locked
+      --no-default-groups
+      --extra grpc
+      --extra http
+      --extra video
+      --extra image
+      --extra yolo-cpu
+    )
+    needs_cmvr_bindings=true
+    ;;
+  dev)
+    sync_args=(
+      --locked
+      --no-default-groups
+      --group dev
+      --extra grpc
+      --extra http
+      --extra video
+      --extra image
+      --extra yolo-cpu
+    )
+    needs_cmvr_bindings=true
+    ;;
+  *)
+    echo "error: unsupported profile '${profile}'" >&2
+    echo "expected one of: core, detection-cpu, dev" >&2
+    exit 2
+    ;;
+esac
+
+if ! command -v uv >/dev/null 2>&1; then
+  echo "error: uv is not installed or not available on PATH" >&2
+  echo "see https://docs.astral.sh/uv/getting-started/installation/" >&2
+  exit 1
+fi
+
+cd "${PROJECT_ROOT}"
+echo "==> project: ${PROJECT_ROOT}"
+echo "==> profile: ${profile}"
+
+if [[ "${needs_cmvr_bindings}" == true && "${skip_codegen}" == false ]]; then
+  if [[ ! -d "${cmvr_es_root}/protos/cmvr" ]]; then
+    echo "error: cmvr-es protos were not found under: ${cmvr_es_root}" >&2
+    echo "pass --cmvr-es-root PATH or use --skip-codegen with existing bindings" >&2
+    exit 1
+  fi
+
+  echo "==> installing the locked protobuf codegen environment"
+  uv sync --locked --only-group codegen
+  echo "==> generating cmvr-es Python bindings from ${cmvr_es_root}"
+  .venv/bin/python scripts/generate_cmvr_stubs.py \
+    --cmvr-es-root "${cmvr_es_root}" \
+    --portable
+fi
+
+echo "==> installing the locked ${profile} environment"
+uv sync "${sync_args[@]}"
+
+if [[ "${skip_check}" == true ]]; then
+  echo "==> installation complete (checks skipped)"
+  exit 0
+fi
+
+echo "==> validating the smoke pipeline"
+.venv/bin/cmvr-edge-ai validate --config configs/smoke.yaml
+
+if [[ "${needs_cmvr_bindings}" == true ]]; then
+  echo "==> checking detection runtime imports"
+  .venv/bin/python -c \
+    "import av, grpc, httpx, PIL, torch, ultralytics; import cmvr.api.camera_service_pb2_grpc; print(f'torch={torch.__version__} cuda={torch.cuda.is_available()} ultralytics={ultralytics.__version__} pillow={PIL.__version__}')"
+  echo "==> validating the PPE detection pipeline"
+  .venv/bin/cmvr-edge-ai validate \
+    --config detect_server/pipeline.yaml \
+    --pipeline detection
+  .venv/bin/cmvr-edge-ai models
+fi
+
+if [[ "${profile}" == dev ]]; then
+  echo "==> running tests"
+  .venv/bin/pytest
+fi
+
+echo "==> bootstrap complete"
+echo "run commands with: uv run --no-sync cmvr-edge-ai ..."
diff --git a/scripts/generate_cmvr_stubs.py b/scripts/generate_cmvr_stubs.py
new file mode 100644
index 0000000..927f609
--- /dev/null
+++ b/scripts/generate_cmvr_stubs.py
@@ -0,0 +1,117 @@
+#!/usr/bin/env python3
+"""Generate Python protobuf/gRPC bindings from the cmvr-es source tree."""
+
+from __future__ import annotations
+
+import argparse
+import platform
+import subprocess
+import sys
+from pathlib import Path
+
+
+DEFAULT_CMVR_ES_ROOT = Path("/home/xtkuang/Projects/cmvr/cmvr-es")
+
+
+def parse_args() -> argparse.Namespace:
+    parser = argparse.ArgumentParser(description=__doc__)
+    parser.add_argument(
+        "--cmvr-es-root",
+        type=Path,
+        default=DEFAULT_CMVR_ES_ROOT,
+        help="cmvr-es checkout containing protos/ and output/bin/",
+    )
+    parser.add_argument(
+        "--output",
+        type=Path,
+        default=Path("src"),
+        help="output root; generated imports require a top-level cmvr package",
+    )
+    parser.add_argument(
+        "--portable",
+        action="store_true",
+        help="use python -m grpc_tools.protoc instead of cmvr-es bundled tools",
+    )
+    return parser.parse_args()
+
+
+def build_command(args: argparse.Namespace, proto_files: list[Path]) -> list[str]:
+    proto_root = args.cmvr_es_root.resolve() / "protos"
+    output = args.output.resolve()
+    relative_files = [str(path.relative_to(proto_root)) for path in proto_files]
+
+    if args.portable:
+        try:
+            import grpc_tools
+        except ImportError as exc:
+            raise RuntimeError(
+                "portable generation requires grpcio-tools; install the dev extra"
+            ) from exc
+        well_known = Path(grpc_tools.__file__).resolve().parent / "_proto"
+        return [
+            sys.executable,
+            "-m",
+            "grpc_tools.protoc",
+            f"-I{proto_root}",
+            f"-I{well_known}",
+            f"--python_out={output}",
+            f"--pyi_out={output}",
+            f"--grpc_python_out={output}",
+            *relative_files,
+        ]
+
+    protoc = args.cmvr_es_root.resolve() / "output/bin/protoc"
+    grpc_plugin = args.cmvr_es_root.resolve() / "output/bin/grpc_python_plugin"
+    if not protoc.is_file() or not grpc_plugin.is_file():
+        raise FileNotFoundError(
+            "cmvr-es protobuf tools are missing; build cmvr-es first or pass --portable"
+        )
+    well_known = _bundled_well_known_proto_root(args.cmvr_es_root.resolve())
+    return [
+        str(protoc),
+        f"-I{proto_root}",
+        f"-I{well_known}",
+        f"--python_out={output}",
+        f"--pyi_out={output}",
+        f"--grpc_python_out={output}",
+        f"--plugin=protoc-gen-grpc_python={grpc_plugin}",
+        *relative_files,
+    ]
+
+
+def _bundled_well_known_proto_root(cmvr_es_root: Path) -> Path:
+    architecture = (
+        "arm" if platform.machine().lower() in {"aarch64", "arm64"} else "x86"
+    )
+    candidates = (
+        cmvr_es_root / "dependency" / architecture / "third_party/grpc/v1.76.0/include",
+        cmvr_es_root / "dependency/x86/third_party/grpc/v1.76.0/include",
+        cmvr_es_root / "dependency/arm/third_party/grpc/v1.76.0/include",
+    )
+    for candidate in candidates:
+        if (candidate / "google/protobuf/timestamp.proto").is_file():
+            return candidate
+    raise FileNotFoundError(
+        "google/protobuf/timestamp.proto was not found in the cmvr-es toolchain"
+    )
+
+
+def main() -> int:
+    args = parse_args()
+    proto_root = args.cmvr_es_root.resolve() / "protos"
+    if not proto_root.is_dir():
+        raise FileNotFoundError(f"proto root does not exist: {proto_root}")
+
+    proto_files = sorted((proto_root / "cmvr").rglob("*.proto"))
+    if not proto_files:
+        raise FileNotFoundError(f"no cmvr proto files found under {proto_root}")
+
+    args.output.mkdir(parents=True, exist_ok=True)
+    command = build_command(args, proto_files)
+    subprocess.run(command, cwd=proto_root, check=True)
+    print(f"generated {len(proto_files)} proto files into {args.output.resolve()}")
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
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+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/agv_command.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/agv_command.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+from cmvr.msgs import agv_pb2 as cmvr_dot_msgs_dot_agv__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/agv_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\x1a\x13\x63mvr/msgs/agv.proto\"\xbd\x01\n\x16\x41gvRuntimeStateCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1ag\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12)\n\x05state\x18\x02 \x01(\x0b\x32\x1a.cmvr.msgs.AgvRuntimeState\"\xc6\x01\n\x1a\x41gvNavigationStatusCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1al\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12.\n\x06status\x18\x02 \x01(\x0b\x32\x1e.cmvr.msgs.AgvNavigationStatus\"\x9c\x02\n\x18\x41gvNavigateToPoseCommand\x1a\xc1\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\"\n\x04pose\x18\x02 \x01(\x0b\x32\x14.cmvr.msgs.AgvPose2d\x12,\n\x07options\x18\x03 \x01(\x0b\x32\x1b.cmvr.msgs.AgvMotionOptions\x12\x33\n\x0e\x61\x64\x61pter_params\x18\x04 \x01(\x0b\x32\x1b.cmvr.msgs.AgvAdapterParams\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8f\x02\n\x1b\x41gvNavigateToStationCommand\x1a\xb1\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x12\n\nstation_id\x18\x02 \x01(\t\x12,\n\x07options\x18\x03 \x01(\x0b\x32\x1b.cmvr.msgs.AgvMotionOptions\x12\x33\n\x0e\x61\x64\x61pter_params\x18\x04 \x01(\x0b\x32\x1b.cmvr.msgs.AgvAdapterParams\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xb9\x01\n\x14\x41gvFollowPathCommand\x1a\x63\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\'\n\x04path\x18\x02 \x03(\x0b\x32\x19.cmvr.msgs.AgvPathSegment\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xbb\x01\n\x15\x41gvSetVelocityCommand\x1a\x64\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12(\n\x08velocity\x18\x02 \x01(\x0b\x32\x16.cmvr.msgs.AgvVelocity\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x9c\x01\n\x12\x41gvListMapsCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1aJ\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x0c\n\x04maps\x18\x02 \x03(\t\"\xbb\x01\n\x16\x41gvListStationsCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x65\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\'\n\x08stations\x18\x02 \x03(\x0b\x32\x15.cmvr.msgs.AgvStation\"\xbd\x01\n\rAgvMapCommand\x1a]\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x10\n\x08map_name\x18\x02 \x01(\t\x12\x0f\n\x07\x63ontent\x18\x03 \x01(\t\x1aM\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x0f\n\x07\x63ontent\x18\x02 \x01(\t\"\xfb\x01\n\x16\x41gvStartMappingCommand\x1a\x8e\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12-\n\tdimension\x18\x02 \x01(\x0e\x32\x1a.cmvr.msgs.AgvMapDimension\x12\x10\n\x08map_name\x18\x03 \x01(\t\x12\x11\n\treal_time\x18\x04 \x01(\x08\x1aP\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x12\n\nsession_id\x18\x02 \x01(\t\"\xd7\x02\n\x13\x41gvMapStreamCommand\x1a\xd1\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12-\n\tdimension\x18\x02 \x01(\x0e\x32\x1a.cmvr.msgs.AgvMapDimension\x12\x10\n\x08map_name\x18\x03 \x01(\t\x12\x14\n\x0cresume_token\x18\x04 \x01(\t\x12\x10\n\x08snapshot\x18\x05 \x01(\x08\x12\x13\n\x0bincremental\x18\x06 \x01(\x08\x12\x17\n\x0fmax_chunk_bytes\x18\x07 \x01(\x05\x1al\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12.\n\x06update\x18\x02 \x01(\x0b\x32\x1e.cmvr.msgs.AgvUnifiedMapUpdateb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.agv_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_AGVRUNTIMESTATECOMMAND']._serialized_start=85
+  _globals['_AGVRUNTIMESTATECOMMAND']._serialized_end=274
+  _globals['_AGVRUNTIMESTATECOMMAND_REQUEST']._serialized_start=111
+  _globals['_AGVRUNTIMESTATECOMMAND_REQUEST']._serialized_end=169
+  _globals['_AGVRUNTIMESTATECOMMAND_FEEDBACK']._serialized_start=171
+  _globals['_AGVRUNTIMESTATECOMMAND_FEEDBACK']._serialized_end=274
+  _globals['_AGVNAVIGATIONSTATUSCOMMAND']._serialized_start=277
+  _globals['_AGVNAVIGATIONSTATUSCOMMAND']._serialized_end=475
+  _globals['_AGVNAVIGATIONSTATUSCOMMAND_REQUEST']._serialized_start=111
+  _globals['_AGVNAVIGATIONSTATUSCOMMAND_REQUEST']._serialized_end=169
+  _globals['_AGVNAVIGATIONSTATUSCOMMAND_FEEDBACK']._serialized_start=367
+  _globals['_AGVNAVIGATIONSTATUSCOMMAND_FEEDBACK']._serialized_end=475
+  _globals['_AGVNAVIGATETOPOSECOMMAND']._serialized_start=478
+  _globals['_AGVNAVIGATETOPOSECOMMAND']._serialized_end=762
+  _globals['_AGVNAVIGATETOPOSECOMMAND_REQUEST']._serialized_start=507
+  _globals['_AGVNAVIGATETOPOSECOMMAND_REQUEST']._serialized_end=700
+  _globals['_AGVNAVIGATETOPOSECOMMAND_FEEDBACK']._serialized_start=171
+  _globals['_AGVNAVIGATETOPOSECOMMAND_FEEDBACK']._serialized_end=231
+  _globals['_AGVNAVIGATETOSTATIONCOMMAND']._serialized_start=765
+  _globals['_AGVNAVIGATETOSTATIONCOMMAND']._serialized_end=1036
+  _globals['_AGVNAVIGATETOSTATIONCOMMAND_REQUEST']._serialized_start=797
+  _globals['_AGVNAVIGATETOSTATIONCOMMAND_REQUEST']._serialized_end=974
+  _globals['_AGVNAVIGATETOSTATIONCOMMAND_FEEDBACK']._serialized_start=171
+  _globals['_AGVNAVIGATETOSTATIONCOMMAND_FEEDBACK']._serialized_end=231
+  _globals['_AGVFOLLOWPATHCOMMAND']._serialized_start=1039
+  _globals['_AGVFOLLOWPATHCOMMAND']._serialized_end=1224
+  _globals['_AGVFOLLOWPATHCOMMAND_REQUEST']._serialized_start=1063
+  _globals['_AGVFOLLOWPATHCOMMAND_REQUEST']._serialized_end=1162
+  _globals['_AGVFOLLOWPATHCOMMAND_FEEDBACK']._serialized_start=171
+  _globals['_AGVFOLLOWPATHCOMMAND_FEEDBACK']._serialized_end=231
+  _globals['_AGVSETVELOCITYCOMMAND']._serialized_start=1227
+  _globals['_AGVSETVELOCITYCOMMAND']._serialized_end=1414
+  _globals['_AGVSETVELOCITYCOMMAND_REQUEST']._serialized_start=1252
+  _globals['_AGVSETVELOCITYCOMMAND_REQUEST']._serialized_end=1352
+  _globals['_AGVSETVELOCITYCOMMAND_FEEDBACK']._serialized_start=171
+  _globals['_AGVSETVELOCITYCOMMAND_FEEDBACK']._serialized_end=231
+  _globals['_AGVLISTMAPSCOMMAND']._serialized_start=1417
+  _globals['_AGVLISTMAPSCOMMAND']._serialized_end=1573
+  _globals['_AGVLISTMAPSCOMMAND_REQUEST']._serialized_start=111
+  _globals['_AGVLISTMAPSCOMMAND_REQUEST']._serialized_end=169
+  _globals['_AGVLISTMAPSCOMMAND_FEEDBACK']._serialized_start=1499
+  _globals['_AGVLISTMAPSCOMMAND_FEEDBACK']._serialized_end=1573
+  _globals['_AGVLISTSTATIONSCOMMAND']._serialized_start=1576
+  _globals['_AGVLISTSTATIONSCOMMAND']._serialized_end=1763
+  _globals['_AGVLISTSTATIONSCOMMAND_REQUEST']._serialized_start=111
+  _globals['_AGVLISTSTATIONSCOMMAND_REQUEST']._serialized_end=169
+  _globals['_AGVLISTSTATIONSCOMMAND_FEEDBACK']._serialized_start=1662
+  _globals['_AGVLISTSTATIONSCOMMAND_FEEDBACK']._serialized_end=1763
+  _globals['_AGVMAPCOMMAND']._serialized_start=1766
+  _globals['_AGVMAPCOMMAND']._serialized_end=1955
+  _globals['_AGVMAPCOMMAND_REQUEST']._serialized_start=1783
+  _globals['_AGVMAPCOMMAND_REQUEST']._serialized_end=1876
+  _globals['_AGVMAPCOMMAND_FEEDBACK']._serialized_start=1878
+  _globals['_AGVMAPCOMMAND_FEEDBACK']._serialized_end=1955
+  _globals['_AGVSTARTMAPPINGCOMMAND']._serialized_start=1958
+  _globals['_AGVSTARTMAPPINGCOMMAND']._serialized_end=2209
+  _globals['_AGVSTARTMAPPINGCOMMAND_REQUEST']._serialized_start=1985
+  _globals['_AGVSTARTMAPPINGCOMMAND_REQUEST']._serialized_end=2127
+  _globals['_AGVSTARTMAPPINGCOMMAND_FEEDBACK']._serialized_start=2129
+  _globals['_AGVSTARTMAPPINGCOMMAND_FEEDBACK']._serialized_end=2209
+  _globals['_AGVMAPSTREAMCOMMAND']._serialized_start=2212
+  _globals['_AGVMAPSTREAMCOMMAND']._serialized_end=2555
+  _globals['_AGVMAPSTREAMCOMMAND_REQUEST']._serialized_start=2236
+  _globals['_AGVMAPSTREAMCOMMAND_REQUEST']._serialized_end=2445
+  _globals['_AGVMAPSTREAMCOMMAND_FEEDBACK']._serialized_start=2447
+  _globals['_AGVMAPSTREAMCOMMAND_FEEDBACK']._serialized_end=2555
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/agv_command_pb2.pyi b/src/cmvr/api/agv_command_pb2.pyi
new file mode 100644
index 0000000..6e3bff9
--- /dev/null
+++ b/src/cmvr/api/agv_command_pb2.pyi
@@ -0,0 +1,215 @@
+from cmvr.api import common_pb2 as _common_pb2
+from cmvr.msgs import agv_pb2 as _agv_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class AgvRuntimeStateCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "state")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        STATE_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        state: _agv_pb2.AgvRuntimeState
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., state: _Optional[_Union[_agv_pb2.AgvRuntimeState, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class AgvNavigationStatusCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "status")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        STATUS_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        status: _agv_pb2.AgvNavigationStatus
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., status: _Optional[_Union[_agv_pb2.AgvNavigationStatus, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class AgvNavigateToPoseCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "pose", "options", "adapter_params")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        POSE_FIELD_NUMBER: _ClassVar[int]
+        OPTIONS_FIELD_NUMBER: _ClassVar[int]
+        ADAPTER_PARAMS_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        pose: _agv_pb2.AgvPose2d
+        options: _agv_pb2.AgvMotionOptions
+        adapter_params: _agv_pb2.AgvAdapterParams
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., pose: _Optional[_Union[_agv_pb2.AgvPose2d, _Mapping]] = ..., options: _Optional[_Union[_agv_pb2.AgvMotionOptions, _Mapping]] = ..., adapter_params: _Optional[_Union[_agv_pb2.AgvAdapterParams, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class AgvNavigateToStationCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "station_id", "options", "adapter_params")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        STATION_ID_FIELD_NUMBER: _ClassVar[int]
+        OPTIONS_FIELD_NUMBER: _ClassVar[int]
+        ADAPTER_PARAMS_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        station_id: str
+        options: _agv_pb2.AgvMotionOptions
+        adapter_params: _agv_pb2.AgvAdapterParams
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., station_id: _Optional[str] = ..., options: _Optional[_Union[_agv_pb2.AgvMotionOptions, _Mapping]] = ..., adapter_params: _Optional[_Union[_agv_pb2.AgvAdapterParams, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class AgvFollowPathCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "path")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        PATH_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        path: _containers.RepeatedCompositeFieldContainer[_agv_pb2.AgvPathSegment]
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., path: _Optional[_Iterable[_Union[_agv_pb2.AgvPathSegment, _Mapping]]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class AgvSetVelocityCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "velocity")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        VELOCITY_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        velocity: _agv_pb2.AgvVelocity
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., velocity: _Optional[_Union[_agv_pb2.AgvVelocity, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class AgvListMapsCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "maps")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        MAPS_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        maps: _containers.RepeatedScalarFieldContainer[str]
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., maps: _Optional[_Iterable[str]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class AgvListStationsCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "stations")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        STATIONS_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        stations: _containers.RepeatedCompositeFieldContainer[_agv_pb2.AgvStation]
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., stations: _Optional[_Iterable[_Union[_agv_pb2.AgvStation, _Mapping]]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class AgvMapCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "map_name", "content")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        MAP_NAME_FIELD_NUMBER: _ClassVar[int]
+        CONTENT_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        map_name: str
+        content: str
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., map_name: _Optional[str] = ..., content: _Optional[str] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "content")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        CONTENT_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        content: str
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., content: _Optional[str] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class AgvStartMappingCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "dimension", "map_name", "real_time")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        DIMENSION_FIELD_NUMBER: _ClassVar[int]
+        MAP_NAME_FIELD_NUMBER: _ClassVar[int]
+        REAL_TIME_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        dimension: _agv_pb2.AgvMapDimension
+        map_name: str
+        real_time: bool
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., dimension: _Optional[_Union[_agv_pb2.AgvMapDimension, str]] = ..., map_name: _Optional[str] = ..., real_time: _Optional[bool] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "session_id")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        SESSION_ID_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        session_id: str
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., session_id: _Optional[str] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class AgvMapStreamCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "dimension", "map_name", "resume_token", "snapshot", "incremental", "max_chunk_bytes")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        DIMENSION_FIELD_NUMBER: _ClassVar[int]
+        MAP_NAME_FIELD_NUMBER: _ClassVar[int]
+        RESUME_TOKEN_FIELD_NUMBER: _ClassVar[int]
+        SNAPSHOT_FIELD_NUMBER: _ClassVar[int]
+        INCREMENTAL_FIELD_NUMBER: _ClassVar[int]
+        MAX_CHUNK_BYTES_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        dimension: _agv_pb2.AgvMapDimension
+        map_name: str
+        resume_token: str
+        snapshot: bool
+        incremental: bool
+        max_chunk_bytes: int
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., dimension: _Optional[_Union[_agv_pb2.AgvMapDimension, str]] = ..., map_name: _Optional[str] = ..., resume_token: _Optional[str] = ..., snapshot: _Optional[bool] = ..., incremental: _Optional[bool] = ..., max_chunk_bytes: _Optional[int] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "update")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        UPDATE_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        update: _agv_pb2.AgvUnifiedMapUpdate
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., update: _Optional[_Union[_agv_pb2.AgvUnifiedMapUpdate, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
diff --git a/src/cmvr/api/agv_command_pb2_grpc.py b/src/cmvr/api/agv_command_pb2_grpc.py
new file mode 100644
index 0000000..80bbe76
--- /dev/null
+++ b/src/cmvr/api/agv_command_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/agv_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/api/agv_service_pb2.py b/src/cmvr/api/agv_service_pb2.py
new file mode 100644
index 0000000..91d1339
--- /dev/null
+++ b/src/cmvr/api/agv_service_pb2.py
@@ -0,0 +1,38 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/agv_service.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/agv_service.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+from cmvr.api import agv_command_pb2 as cmvr_dot_api_dot_agv__command__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/agv_service.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\x1a\x1a\x63mvr/api/agv_command.proto2\xd0\x0e\n\nAgvService\x12\x66\n\x0fgetRuntimeState\x12(.cmvr.api.AgvRuntimeStateCommand.Request\x1a).cmvr.api.AgvRuntimeStateCommand.Feedback\x12r\n\x13getNavigationStatus\x12,.cmvr.api.AgvNavigationStatusCommand.Request\x1a-.cmvr.api.AgvNavigationStatusCommand.Feedback\x12R\n\remergencyStop\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12O\n\nclearFault\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12i\n\x0enavigateToPose\x12*.cmvr.api.AgvNavigateToPoseCommand.Request\x1a+.cmvr.api.AgvNavigateToPoseCommand.Feedback\x12r\n\x11navigateToStation\x12-.cmvr.api.AgvNavigateToStationCommand.Request\x1a..cmvr.api.AgvNavigateToStationCommand.Feedback\x12]\n\nfollowPath\x12&.cmvr.api.AgvFollowPathCommand.Request\x1a\'.cmvr.api.AgvFollowPathCommand.Feedback\x12T\n\x0fpauseNavigation\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12U\n\x10resumeNavigation\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12U\n\x10\x63\x61ncelNavigation\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12`\n\x0bsetVelocity\x12\'.cmvr.api.AgvSetVelocityCommand.Request\x1a(.cmvr.api.AgvSetVelocityCommand.Feedback\x12X\n\x13stopVelocityControl\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12W\n\x08listMaps\x12$.cmvr.api.AgvListMapsCommand.Request\x1a%.cmvr.api.AgvListMapsCommand.Feedback\x12\x63\n\x0clistStations\x12(.cmvr.api.AgvListStationsCommand.Request\x1a).cmvr.api.AgvListStationsCommand.Feedback\x12N\n\tswitchMap\x12\x1f.cmvr.api.AgvMapCommand.Request\x1a .cmvr.api.AgvMapCommand.Feedback\x12N\n\tuploadMap\x12\x1f.cmvr.api.AgvMapCommand.Request\x1a .cmvr.api.AgvMapCommand.Feedback\x12P\n\x0b\x64ownloadMap\x12\x1f.cmvr.api.AgvMapCommand.Request\x1a .cmvr.api.AgvMapCommand.Feedback\x12\x63\n\x0cstartMapping\x12(.cmvr.api.AgvStartMappingCommand.Request\x1a).cmvr.api.AgvStartMappingCommand.Feedback\x12\\\n\tstreamMap\x12%.cmvr.api.AgvMapStreamCommand.Request\x1a&.cmvr.api.AgvMapStreamCommand.Feedback0\x01\x12P\n\x0bstopMapping\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedbackb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.agv_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_AGVSERVICE']._serialized_start=92
+  _globals['_AGVSERVICE']._serialized_end=1964
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/agv_service_pb2.pyi b/src/cmvr/api/agv_service_pb2.pyi
new file mode 100644
index 0000000..9861922
--- /dev/null
+++ b/src/cmvr/api/agv_service_pb2.pyi
@@ -0,0 +1,6 @@
+from cmvr.api import common_pb2 as _common_pb2
+from cmvr.api import agv_command_pb2 as _agv_command_pb2
+from google.protobuf import descriptor as _descriptor
+from typing import ClassVar as _ClassVar
+
+DESCRIPTOR: _descriptor.FileDescriptor
diff --git a/src/cmvr/api/agv_service_pb2_grpc.py b/src/cmvr/api/agv_service_pb2_grpc.py
new file mode 100644
index 0000000..0070d2f
--- /dev/null
+++ b/src/cmvr/api/agv_service_pb2_grpc.py
@@ -0,0 +1,943 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+from cmvr.api import agv_command_pb2 as cmvr_dot_api_dot_agv__command__pb2
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/agv_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class AgvServiceStub:
+    """AGV 通用服务。该服务只暴露控制器无关的能力，
+    厂商协议、地图文件格式和控制器特有参数由具体 AGV 适配器内部处理。
+    """
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.getRuntimeState = channel.unary_unary(
+                '/cmvr.api.AgvService/getRuntimeState',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvRuntimeStateCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvRuntimeStateCommand.Feedback.FromString,
+                _registered_method=True)
+        self.getNavigationStatus = channel.unary_unary(
+                '/cmvr.api.AgvService/getNavigationStatus',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigationStatusCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigationStatusCommand.Feedback.FromString,
+                _registered_method=True)
+        self.emergencyStop = channel.unary_unary(
+                '/cmvr.api.AgvService/emergencyStop',
+                request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+                _registered_method=True)
+        self.clearFault = channel.unary_unary(
+                '/cmvr.api.AgvService/clearFault',
+                request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+                _registered_method=True)
+        self.navigateToPose = channel.unary_unary(
+                '/cmvr.api.AgvService/navigateToPose',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToPoseCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToPoseCommand.Feedback.FromString,
+                _registered_method=True)
+        self.navigateToStation = channel.unary_unary(
+                '/cmvr.api.AgvService/navigateToStation',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToStationCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToStationCommand.Feedback.FromString,
+                _registered_method=True)
+        self.followPath = channel.unary_unary(
+                '/cmvr.api.AgvService/followPath',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvFollowPathCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvFollowPathCommand.Feedback.FromString,
+                _registered_method=True)
+        self.pauseNavigation = channel.unary_unary(
+                '/cmvr.api.AgvService/pauseNavigation',
+                request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+                _registered_method=True)
+        self.resumeNavigation = channel.unary_unary(
+                '/cmvr.api.AgvService/resumeNavigation',
+                request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+                _registered_method=True)
+        self.cancelNavigation = channel.unary_unary(
+                '/cmvr.api.AgvService/cancelNavigation',
+                request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+                _registered_method=True)
+        self.setVelocity = channel.unary_unary(
+                '/cmvr.api.AgvService/setVelocity',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvSetVelocityCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvSetVelocityCommand.Feedback.FromString,
+                _registered_method=True)
+        self.stopVelocityControl = channel.unary_unary(
+                '/cmvr.api.AgvService/stopVelocityControl',
+                request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+                _registered_method=True)
+        self.listMaps = channel.unary_unary(
+                '/cmvr.api.AgvService/listMaps',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvListMapsCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvListMapsCommand.Feedback.FromString,
+                _registered_method=True)
+        self.listStations = channel.unary_unary(
+                '/cmvr.api.AgvService/listStations',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvListStationsCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvListStationsCommand.Feedback.FromString,
+                _registered_method=True)
+        self.switchMap = channel.unary_unary(
+                '/cmvr.api.AgvService/switchMap',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.FromString,
+                _registered_method=True)
+        self.uploadMap = channel.unary_unary(
+                '/cmvr.api.AgvService/uploadMap',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.FromString,
+                _registered_method=True)
+        self.downloadMap = channel.unary_unary(
+                '/cmvr.api.AgvService/downloadMap',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.FromString,
+                _registered_method=True)
+        self.startMapping = channel.unary_unary(
+                '/cmvr.api.AgvService/startMapping',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvStartMappingCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvStartMappingCommand.Feedback.FromString,
+                _registered_method=True)
+        self.streamMap = channel.unary_stream(
+                '/cmvr.api.AgvService/streamMap',
+                request_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapStreamCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapStreamCommand.Feedback.FromString,
+                _registered_method=True)
+        self.stopMapping = channel.unary_unary(
+                '/cmvr.api.AgvService/stopMapping',
+                request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+                _registered_method=True)
+
+
+class AgvServiceServicer:
+    """AGV 通用服务。该服务只暴露控制器无关的能力，
+    厂商协议、地图文件格式和控制器特有参数由具体 AGV 适配器内部处理。
+    """
+
+    def getRuntimeState(self, request, context):
+        """获取 AGV 当前运行状态快照。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def getNavigationStatus(self, request, context):
+        """获取当前导航任务状态。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def emergencyStop(self, request, context):
+        """执行急停或等效安全停止动作。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def clearFault(self, request, context):
+        """清除可恢复故障或告警。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def navigateToPose(self, request, context):
+        """导航到指定地图位姿。目标位姿 x/y 单位为米，theta 单位为弧度。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def navigateToStation(self, request, context):
+        """导航到指定地图站点。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def followPath(self, request, context):
+        """按显式站点路径执行导航。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def pauseNavigation(self, request, context):
+        """暂停当前导航任务。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def resumeNavigation(self, request, context):
+        """恢复已暂停的导航任务。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def cancelNavigation(self, request, context):
+        """取消当前导航任务。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def setVelocity(self, request, context):
+        """下发底盘速度控制指令。vx/vy 单位为米/秒，wz 单位为弧度/秒。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def stopVelocityControl(self, request, context):
+        """停止底盘速度控制。该接口不等价于取消导航任务。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def listMaps(self, request, context):
+        """查询 AGV 控制器可用地图名称列表。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def listStations(self, request, context):
+        """查询当前地图中的站点列表。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def switchMap(self, request, context):
+        """切换当前使用地图。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def uploadMap(self, request, context):
+        """上传地图内容到 AGV 控制器。地图内容字段由适配器解释。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def downloadMap(self, request, context):
+        """下载指定地图内容。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def startMapping(self, request, context):
+        """开始建图/扫图会话。请求只选择 2D、3D 或二者都要，
+        控制器特有地图格式由 AGV 适配器内部转换。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def streamMap(self, request, context):
+        """以服务端流方式发送统一地图。resume_token 为空时应先发送全量快照；
+        后续是否发送增量由 AGV 适配器能力决定，并通过 update_type 标记。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def stopMapping(self, request, context):
+        """停止当前建图/扫图会话。
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_AgvServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'getRuntimeState': grpc.unary_unary_rpc_method_handler(
+                    servicer.getRuntimeState,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvRuntimeStateCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvRuntimeStateCommand.Feedback.SerializeToString,
+            ),
+            'getNavigationStatus': grpc.unary_unary_rpc_method_handler(
+                    servicer.getNavigationStatus,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigationStatusCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigationStatusCommand.Feedback.SerializeToString,
+            ),
+            'emergencyStop': grpc.unary_unary_rpc_method_handler(
+                    servicer.emergencyStop,
+                    request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
+            ),
+            'clearFault': grpc.unary_unary_rpc_method_handler(
+                    servicer.clearFault,
+                    request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
+            ),
+            'navigateToPose': grpc.unary_unary_rpc_method_handler(
+                    servicer.navigateToPose,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToPoseCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToPoseCommand.Feedback.SerializeToString,
+            ),
+            'navigateToStation': grpc.unary_unary_rpc_method_handler(
+                    servicer.navigateToStation,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToStationCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToStationCommand.Feedback.SerializeToString,
+            ),
+            'followPath': grpc.unary_unary_rpc_method_handler(
+                    servicer.followPath,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvFollowPathCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvFollowPathCommand.Feedback.SerializeToString,
+            ),
+            'pauseNavigation': grpc.unary_unary_rpc_method_handler(
+                    servicer.pauseNavigation,
+                    request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
+            ),
+            'resumeNavigation': grpc.unary_unary_rpc_method_handler(
+                    servicer.resumeNavigation,
+                    request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
+            ),
+            'cancelNavigation': grpc.unary_unary_rpc_method_handler(
+                    servicer.cancelNavigation,
+                    request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
+            ),
+            'setVelocity': grpc.unary_unary_rpc_method_handler(
+                    servicer.setVelocity,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvSetVelocityCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvSetVelocityCommand.Feedback.SerializeToString,
+            ),
+            'stopVelocityControl': grpc.unary_unary_rpc_method_handler(
+                    servicer.stopVelocityControl,
+                    request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
+            ),
+            'listMaps': grpc.unary_unary_rpc_method_handler(
+                    servicer.listMaps,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvListMapsCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvListMapsCommand.Feedback.SerializeToString,
+            ),
+            'listStations': grpc.unary_unary_rpc_method_handler(
+                    servicer.listStations,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvListStationsCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvListStationsCommand.Feedback.SerializeToString,
+            ),
+            'switchMap': grpc.unary_unary_rpc_method_handler(
+                    servicer.switchMap,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.SerializeToString,
+            ),
+            'uploadMap': grpc.unary_unary_rpc_method_handler(
+                    servicer.uploadMap,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.SerializeToString,
+            ),
+            'downloadMap': grpc.unary_unary_rpc_method_handler(
+                    servicer.downloadMap,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.SerializeToString,
+            ),
+            'startMapping': grpc.unary_unary_rpc_method_handler(
+                    servicer.startMapping,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvStartMappingCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvStartMappingCommand.Feedback.SerializeToString,
+            ),
+            'streamMap': grpc.unary_stream_rpc_method_handler(
+                    servicer.streamMap,
+                    request_deserializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapStreamCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_agv__command__pb2.AgvMapStreamCommand.Feedback.SerializeToString,
+            ),
+            'stopMapping': grpc.unary_unary_rpc_method_handler(
+                    servicer.stopMapping,
+                    request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'cmvr.api.AgvService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.AgvService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class AgvService:
+    """AGV 通用服务。该服务只暴露控制器无关的能力，
+    厂商协议、地图文件格式和控制器特有参数由具体 AGV 适配器内部处理。
+    """
+
+    @staticmethod
+    def getRuntimeState(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/getRuntimeState',
+            cmvr_dot_api_dot_agv__command__pb2.AgvRuntimeStateCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvRuntimeStateCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def getNavigationStatus(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/getNavigationStatus',
+            cmvr_dot_api_dot_agv__command__pb2.AgvNavigationStatusCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvNavigationStatusCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def emergencyStop(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/emergencyStop',
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def clearFault(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/clearFault',
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def navigateToPose(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/navigateToPose',
+            cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToPoseCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToPoseCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def navigateToStation(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/navigateToStation',
+            cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToStationCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvNavigateToStationCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def followPath(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/followPath',
+            cmvr_dot_api_dot_agv__command__pb2.AgvFollowPathCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvFollowPathCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def pauseNavigation(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/pauseNavigation',
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def resumeNavigation(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/resumeNavigation',
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def cancelNavigation(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/cancelNavigation',
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def setVelocity(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/setVelocity',
+            cmvr_dot_api_dot_agv__command__pb2.AgvSetVelocityCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvSetVelocityCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def stopVelocityControl(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/stopVelocityControl',
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def listMaps(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/listMaps',
+            cmvr_dot_api_dot_agv__command__pb2.AgvListMapsCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvListMapsCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def listStations(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/listStations',
+            cmvr_dot_api_dot_agv__command__pb2.AgvListStationsCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvListStationsCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def switchMap(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/switchMap',
+            cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def uploadMap(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/uploadMap',
+            cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def downloadMap(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/downloadMap',
+            cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvMapCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def startMapping(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/startMapping',
+            cmvr_dot_api_dot_agv__command__pb2.AgvStartMappingCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvStartMappingCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def streamMap(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_stream(
+            request,
+            target,
+            '/cmvr.api.AgvService/streamMap',
+            cmvr_dot_api_dot_agv__command__pb2.AgvMapStreamCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_agv__command__pb2.AgvMapStreamCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def stopMapping(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.AgvService/stopMapping',
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
diff --git a/src/cmvr/api/arm_command_pb2.py b/src/cmvr/api/arm_command_pb2.py
new file mode 100644
index 0000000..be8e45e
--- /dev/null
+++ b/src/cmvr/api/arm_command_pb2.py
@@ -0,0 +1,109 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/arm_command.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/arm_command.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/arm_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"(\n\x14JointPositionCommand\x12\x10\n\x08position\x18\x01 \x03(\x01\"(\n\x14JointVelocityCommand\x12\x10\n\x08velocity\x18\x01 \x03(\x01\"\x90\x01\n\rMotionOptions\x12\x10\n\x08velocity\x18\x01 \x01(\x01\x12\x14\n\x0c\x61\x63\x63\x65leration\x18\x02 \x01(\x01\x12\x14\n\x0c\x62lend_radius\x18\x03 \x01(\x01\x12\x0c\n\x04jerk\x18\x04 \x01(\x01\x12\x1d\n\x15joint_velocity_limits\x18\x05 \x03(\x01\x12\x14\n\x0c\x61synchronous\x18\x06 \x01(\x08\"T\n\rCartesianPose\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\t\n\x01z\x18\x03 \x01(\x01\x12\n\n\x02rx\x18\x04 \x01(\x01\x12\n\n\x02ry\x18\x05 \x01(\x01\x12\n\n\x02rz\x18\x06 \x01(\x01\"[\n\x11\x43\x61rtesianVelocity\x12\n\n\x02vx\x18\x01 \x01(\x01\x12\n\n\x02vy\x18\x02 \x01(\x01\x12\n\n\x02vz\x18\x03 \x01(\x01\x12\n\n\x02wx\x18\x04 \x01(\x01\x12\n\n\x02wy\x18\x05 \x01(\x01\x12\n\n\x02wz\x18\x06 \x01(\x01\"\xe4\x01\n\x12TransformMatrix4x4\x12\x0b\n\x03m00\x18\x01 \x01(\x01\x12\x0b\n\x03m01\x18\x02 \x01(\x01\x12\x0b\n\x03m02\x18\x03 \x01(\x01\x12\x0b\n\x03m03\x18\x04 \x01(\x01\x12\x0b\n\x03m10\x18\x05 \x01(\x01\x12\x0b\n\x03m11\x18\x06 \x01(\x01\x12\x0b\n\x03m12\x18\x07 \x01(\x01\x12\x0b\n\x03m13\x18\x08 \x01(\x01\x12\x0b\n\x03m20\x18\t \x01(\x01\x12\x0b\n\x03m21\x18\n \x01(\x01\x12\x0b\n\x03m22\x18\x0b \x01(\x01\x12\x0b\n\x03m23\x18\x0c \x01(\x01\x12\x0b\n\x03m30\x18\r \x01(\x01\x12\x0b\n\x03m31\x18\x0e \x01(\x01\x12\x0b\n\x03m32\x18\x0f \x01(\x01\x12\x0b\n\x03m33\x18\x10 \x01(\x01\"\xdc\x01\n\x05MoveJ\x1a\x94\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12.\n\x06target\x18\x02 \x01(\x0b\x32\x1e.cmvr.api.JointPositionCommand\x12(\n\x07options\x18\x03 \x01(\x0b\x32\x17.cmvr.api.MotionOptions\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xfc\x01\n\x05MoveL\x1a\xb4\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\'\n\x06target\x18\x02 \x01(\x0b\x32\x17.cmvr.api.CartesianPose\x12(\n\x07options\x18\x03 \x01(\x0b\x32\x17.cmvr.api.MotionOptions\x12%\n\x05\x66rame\x18\x04 \x01(\x0e\x32\x16.cmvr.api.ArmFrameType\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xdd\x01\n\x06SpeedJ\x1a\x94\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x30\n\x08velocity\x18\x02 \x01(\x0b\x32\x1e.cmvr.api.JointVelocityCommand\x12\x14\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x01\x12\x10\n\x08\x64uration\x18\x04 \x01(\x01\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x81\x02\n\x06SpeedL\x1a\xb8\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12-\n\x08velocity\x18\x02 \x01(\x0b\x32\x1b.cmvr.api.CartesianVelocity\x12\x14\n\x0c\x61\x63\x63\x65leration\x18\x03 \x01(\x01\x12\x10\n\x08\x64uration\x18\x04 \x01(\x01\x12%\n\x05\x66rame\x18\x05 \x01(\x0e\x32\x16.cmvr.api.ArmFrameType\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xb2\x01\n\x06ServoJ\x1aj\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12.\n\x06target\x18\x02 \x01(\x0b\x32\x1e.cmvr.api.JointPositionCommand\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"a\n\nJointState\x12\x0c\n\x04name\x18\x01 \x03(\t\x12\x10\n\x08position\x18\x02 \x03(\x01\x12\x10\n\x08velocity\x18\x03 \x03(\x01\x12\x0e\n\x06\x65\x66\x66ort\x18\x04 \x03(\x01\x12\x11\n\ttimestamp\x18\x05 \x01(\x01\"?\n\x0cJointRequest\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\"f\n\rJointResponse\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12#\n\x05state\x18\x02 \x01(\x0b\x32\x14.cmvr.api.JointState\"\xce\x01\n\x07GetPose\x1a^\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x11\n\tbase_link\x18\x02 \x01(\t\x12\x0f\n\x07\x65\x65_link\x18\x03 \x01(\t\x1a\x63\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12%\n\x04pose\x18\x02 \x01(\x0b\x32\x17.cmvr.api.CartesianPose\"\x9e\x01\n\x0e\x43\x61librateZeroQ\x1aN\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x12\n\njoint_name\x18\x02 \x01(\t\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xdb\x01\n\rGetPoseMatrix\x1a^\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x11\n\tbase_link\x18\x02 \x01(\t\x12\x0f\n\x07\x65\x65_link\x18\x03 \x01(\t\x1aj\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12,\n\x06matrix\x18\x02 \x01(\x0b\x32\x1c.cmvr.api.TransformMatrix4x4\"\x97\x02\n\x18\x43omputeForwardKinematics\x1a\x8e\x01\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x11\n\tbase_link\x18\x02 \x01(\t\x12\x0f\n\x07\x65\x65_link\x18\x03 \x01(\t\x12.\n\x06joints\x18\x04 \x01(\x0b\x32\x1e.cmvr.api.JointPositionCommand\x1aj\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12,\n\x06matrix\x18\x02 \x01(\x0b\x32\x1c.cmvr.api.TransformMatrix4x4*_\n\x0c\x41rmFrameType\x12\x12\n\x0e\x41RM_FRAME_BASE\x10\x00\x12\x12\n\x0e\x41RM_FRAME_TOOL\x10\x01\x12\x13\n\x0f\x41RM_FRAME_WORLD\x10\x02\x12\x12\n\x0e\x41RM_FRAME_USER\x10\x03\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.arm_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_ARMFRAMETYPE']._serialized_start=2989
+  _globals['_ARMFRAMETYPE']._serialized_end=3084
+  _globals['_JOINTPOSITIONCOMMAND']._serialized_start=63
+  _globals['_JOINTPOSITIONCOMMAND']._serialized_end=103
+  _globals['_JOINTVELOCITYCOMMAND']._serialized_start=105
+  _globals['_JOINTVELOCITYCOMMAND']._serialized_end=145
+  _globals['_MOTIONOPTIONS']._serialized_start=148
+  _globals['_MOTIONOPTIONS']._serialized_end=292
+  _globals['_CARTESIANPOSE']._serialized_start=294
+  _globals['_CARTESIANPOSE']._serialized_end=378
+  _globals['_CARTESIANVELOCITY']._serialized_start=380
+  _globals['_CARTESIANVELOCITY']._serialized_end=471
+  _globals['_TRANSFORMMATRIX4X4']._serialized_start=474
+  _globals['_TRANSFORMMATRIX4X4']._serialized_end=702
+  _globals['_MOVEJ']._serialized_start=705
+  _globals['_MOVEJ']._serialized_end=925
+  _globals['_MOVEJ_REQUEST']._serialized_start=715
+  _globals['_MOVEJ_REQUEST']._serialized_end=863
+  _globals['_MOVEJ_RESPONSE']._serialized_start=865
+  _globals['_MOVEJ_RESPONSE']._serialized_end=925
+  _globals['_MOVEL']._serialized_start=928
+  _globals['_MOVEL']._serialized_end=1180
+  _globals['_MOVEL_REQUEST']._serialized_start=938
+  _globals['_MOVEL_REQUEST']._serialized_end=1118
+  _globals['_MOVEL_RESPONSE']._serialized_start=865
+  _globals['_MOVEL_RESPONSE']._serialized_end=925
+  _globals['_SPEEDJ']._serialized_start=1183
+  _globals['_SPEEDJ']._serialized_end=1404
+  _globals['_SPEEDJ_REQUEST']._serialized_start=1194
+  _globals['_SPEEDJ_REQUEST']._serialized_end=1342
+  _globals['_SPEEDJ_RESPONSE']._serialized_start=865
+  _globals['_SPEEDJ_RESPONSE']._serialized_end=925
+  _globals['_SPEEDL']._serialized_start=1407
+  _globals['_SPEEDL']._serialized_end=1664
+  _globals['_SPEEDL_REQUEST']._serialized_start=1418
+  _globals['_SPEEDL_REQUEST']._serialized_end=1602
+  _globals['_SPEEDL_RESPONSE']._serialized_start=865
+  _globals['_SPEEDL_RESPONSE']._serialized_end=925
+  _globals['_SERVOJ']._serialized_start=1667
+  _globals['_SERVOJ']._serialized_end=1845
+  _globals['_SERVOJ_REQUEST']._serialized_start=715
+  _globals['_SERVOJ_REQUEST']._serialized_end=821
+  _globals['_SERVOJ_RESPONSE']._serialized_start=865
+  _globals['_SERVOJ_RESPONSE']._serialized_end=925
+  _globals['_JOINTSTATE']._serialized_start=1847
+  _globals['_JOINTSTATE']._serialized_end=1944
+  _globals['_JOINTREQUEST']._serialized_start=1946
+  _globals['_JOINTREQUEST']._serialized_end=2009
+  _globals['_JOINTRESPONSE']._serialized_start=2011
+  _globals['_JOINTRESPONSE']._serialized_end=2113
+  _globals['_GETPOSE']._serialized_start=2116
+  _globals['_GETPOSE']._serialized_end=2322
+  _globals['_GETPOSE_REQUEST']._serialized_start=2127
+  _globals['_GETPOSE_REQUEST']._serialized_end=2221
+  _globals['_GETPOSE_RESPONSE']._serialized_start=2223
+  _globals['_GETPOSE_RESPONSE']._serialized_end=2322
+  _globals['_CALIBRATEZEROQ']._serialized_start=2325
+  _globals['_CALIBRATEZEROQ']._serialized_end=2483
+  _globals['_CALIBRATEZEROQ_REQUEST']._serialized_start=2343
+  _globals['_CALIBRATEZEROQ_REQUEST']._serialized_end=2421
+  _globals['_CALIBRATEZEROQ_RESPONSE']._serialized_start=865
+  _globals['_CALIBRATEZEROQ_RESPONSE']._serialized_end=925
+  _globals['_GETPOSEMATRIX']._serialized_start=2486
+  _globals['_GETPOSEMATRIX']._serialized_end=2705
+  _globals['_GETPOSEMATRIX_REQUEST']._serialized_start=2127
+  _globals['_GETPOSEMATRIX_REQUEST']._serialized_end=2221
+  _globals['_GETPOSEMATRIX_RESPONSE']._serialized_start=2599
+  _globals['_GETPOSEMATRIX_RESPONSE']._serialized_end=2705
+  _globals['_COMPUTEFORWARDKINEMATICS']._serialized_start=2708
+  _globals['_COMPUTEFORWARDKINEMATICS']._serialized_end=2987
+  _globals['_COMPUTEFORWARDKINEMATICS_REQUEST']._serialized_start=2737
+  _globals['_COMPUTEFORWARDKINEMATICS_REQUEST']._serialized_end=2879
+  _globals['_COMPUTEFORWARDKINEMATICS_RESPONSE']._serialized_start=2599
+  _globals['_COMPUTEFORWARDKINEMATICS_RESPONSE']._serialized_end=2705
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/arm_command_pb2.pyi b/src/cmvr/api/arm_command_pb2.pyi
new file mode 100644
index 0000000..aed0966
--- /dev/null
+++ b/src/cmvr/api/arm_command_pb2.pyi
@@ -0,0 +1,318 @@
+from cmvr.api import common_pb2 as _common_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class ArmFrameType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    ARM_FRAME_BASE: _ClassVar[ArmFrameType]
+    ARM_FRAME_TOOL: _ClassVar[ArmFrameType]
+    ARM_FRAME_WORLD: _ClassVar[ArmFrameType]
+    ARM_FRAME_USER: _ClassVar[ArmFrameType]
+ARM_FRAME_BASE: ArmFrameType
+ARM_FRAME_TOOL: ArmFrameType
+ARM_FRAME_WORLD: ArmFrameType
+ARM_FRAME_USER: ArmFrameType
+
+class JointPositionCommand(_message.Message):
+    __slots__ = ("position",)
+    POSITION_FIELD_NUMBER: _ClassVar[int]
+    position: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, position: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class JointVelocityCommand(_message.Message):
+    __slots__ = ("velocity",)
+    VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    velocity: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, velocity: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class MotionOptions(_message.Message):
+    __slots__ = ("velocity", "acceleration", "blend_radius", "jerk", "joint_velocity_limits", "asynchronous")
+    VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    ACCELERATION_FIELD_NUMBER: _ClassVar[int]
+    BLEND_RADIUS_FIELD_NUMBER: _ClassVar[int]
+    JERK_FIELD_NUMBER: _ClassVar[int]
+    JOINT_VELOCITY_LIMITS_FIELD_NUMBER: _ClassVar[int]
+    ASYNCHRONOUS_FIELD_NUMBER: _ClassVar[int]
+    velocity: float
+    acceleration: float
+    blend_radius: float
+    jerk: float
+    joint_velocity_limits: _containers.RepeatedScalarFieldContainer[float]
+    asynchronous: bool
+    def __init__(self, velocity: _Optional[float] = ..., acceleration: _Optional[float] = ..., blend_radius: _Optional[float] = ..., jerk: _Optional[float] = ..., joint_velocity_limits: _Optional[_Iterable[float]] = ..., asynchronous: _Optional[bool] = ...) -> None: ...
+
+class CartesianPose(_message.Message):
+    __slots__ = ("x", "y", "z", "rx", "ry", "rz")
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    Z_FIELD_NUMBER: _ClassVar[int]
+    RX_FIELD_NUMBER: _ClassVar[int]
+    RY_FIELD_NUMBER: _ClassVar[int]
+    RZ_FIELD_NUMBER: _ClassVar[int]
+    x: float
+    y: float
+    z: float
+    rx: float
+    ry: float
+    rz: float
+    def __init__(self, x: _Optional[float] = ..., y: _Optional[float] = ..., z: _Optional[float] = ..., rx: _Optional[float] = ..., ry: _Optional[float] = ..., rz: _Optional[float] = ...) -> None: ...
+
+class CartesianVelocity(_message.Message):
+    __slots__ = ("vx", "vy", "vz", "wx", "wy", "wz")
+    VX_FIELD_NUMBER: _ClassVar[int]
+    VY_FIELD_NUMBER: _ClassVar[int]
+    VZ_FIELD_NUMBER: _ClassVar[int]
+    WX_FIELD_NUMBER: _ClassVar[int]
+    WY_FIELD_NUMBER: _ClassVar[int]
+    WZ_FIELD_NUMBER: _ClassVar[int]
+    vx: float
+    vy: float
+    vz: float
+    wx: float
+    wy: float
+    wz: float
+    def __init__(self, vx: _Optional[float] = ..., vy: _Optional[float] = ..., vz: _Optional[float] = ..., wx: _Optional[float] = ..., wy: _Optional[float] = ..., wz: _Optional[float] = ...) -> None: ...
+
+class TransformMatrix4x4(_message.Message):
+    __slots__ = ("m00", "m01", "m02", "m03", "m10", "m11", "m12", "m13", "m20", "m21", "m22", "m23", "m30", "m31", "m32", "m33")
+    M00_FIELD_NUMBER: _ClassVar[int]
+    M01_FIELD_NUMBER: _ClassVar[int]
+    M02_FIELD_NUMBER: _ClassVar[int]
+    M03_FIELD_NUMBER: _ClassVar[int]
+    M10_FIELD_NUMBER: _ClassVar[int]
+    M11_FIELD_NUMBER: _ClassVar[int]
+    M12_FIELD_NUMBER: _ClassVar[int]
+    M13_FIELD_NUMBER: _ClassVar[int]
+    M20_FIELD_NUMBER: _ClassVar[int]
+    M21_FIELD_NUMBER: _ClassVar[int]
+    M22_FIELD_NUMBER: _ClassVar[int]
+    M23_FIELD_NUMBER: _ClassVar[int]
+    M30_FIELD_NUMBER: _ClassVar[int]
+    M31_FIELD_NUMBER: _ClassVar[int]
+    M32_FIELD_NUMBER: _ClassVar[int]
+    M33_FIELD_NUMBER: _ClassVar[int]
+    m00: float
+    m01: float
+    m02: float
+    m03: float
+    m10: float
+    m11: float
+    m12: float
+    m13: float
+    m20: float
+    m21: float
+    m22: float
+    m23: float
+    m30: float
+    m31: float
+    m32: float
+    m33: float
+    def __init__(self, m00: _Optional[float] = ..., m01: _Optional[float] = ..., m02: _Optional[float] = ..., m03: _Optional[float] = ..., m10: _Optional[float] = ..., m11: _Optional[float] = ..., m12: _Optional[float] = ..., m13: _Optional[float] = ..., m20: _Optional[float] = ..., m21: _Optional[float] = ..., m22: _Optional[float] = ..., m23: _Optional[float] = ..., m30: _Optional[float] = ..., m31: _Optional[float] = ..., m32: _Optional[float] = ..., m33: _Optional[float] = ...) -> None: ...
+
+class MoveJ(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "target", "options")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        TARGET_FIELD_NUMBER: _ClassVar[int]
+        OPTIONS_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        target: JointPositionCommand
+        options: MotionOptions
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., target: _Optional[_Union[JointPositionCommand, _Mapping]] = ..., options: _Optional[_Union[MotionOptions, _Mapping]] = ...) -> None: ...
+    class Response(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class MoveL(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "target", "options", "frame")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        TARGET_FIELD_NUMBER: _ClassVar[int]
+        OPTIONS_FIELD_NUMBER: _ClassVar[int]
+        FRAME_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        target: CartesianPose
+        options: MotionOptions
+        frame: ArmFrameType
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., target: _Optional[_Union[CartesianPose, _Mapping]] = ..., options: _Optional[_Union[MotionOptions, _Mapping]] = ..., frame: _Optional[_Union[ArmFrameType, str]] = ...) -> None: ...
+    class Response(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class SpeedJ(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "velocity", "acceleration", "duration")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        VELOCITY_FIELD_NUMBER: _ClassVar[int]
+        ACCELERATION_FIELD_NUMBER: _ClassVar[int]
+        DURATION_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        velocity: JointVelocityCommand
+        acceleration: float
+        duration: float
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., velocity: _Optional[_Union[JointVelocityCommand, _Mapping]] = ..., acceleration: _Optional[float] = ..., duration: _Optional[float] = ...) -> None: ...
+    class Response(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class SpeedL(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "velocity", "acceleration", "duration", "frame")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        VELOCITY_FIELD_NUMBER: _ClassVar[int]
+        ACCELERATION_FIELD_NUMBER: _ClassVar[int]
+        DURATION_FIELD_NUMBER: _ClassVar[int]
+        FRAME_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        velocity: CartesianVelocity
+        acceleration: float
+        duration: float
+        frame: ArmFrameType
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., velocity: _Optional[_Union[CartesianVelocity, _Mapping]] = ..., acceleration: _Optional[float] = ..., duration: _Optional[float] = ..., frame: _Optional[_Union[ArmFrameType, str]] = ...) -> None: ...
+    class Response(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class ServoJ(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "target")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        TARGET_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        target: JointPositionCommand
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., target: _Optional[_Union[JointPositionCommand, _Mapping]] = ...) -> None: ...
+    class Response(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class JointState(_message.Message):
+    __slots__ = ("name", "position", "velocity", "effort", "timestamp")
+    NAME_FIELD_NUMBER: _ClassVar[int]
+    POSITION_FIELD_NUMBER: _ClassVar[int]
+    VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    EFFORT_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_FIELD_NUMBER: _ClassVar[int]
+    name: _containers.RepeatedScalarFieldContainer[str]
+    position: _containers.RepeatedScalarFieldContainer[float]
+    velocity: _containers.RepeatedScalarFieldContainer[float]
+    effort: _containers.RepeatedScalarFieldContainer[float]
+    timestamp: float
+    def __init__(self, name: _Optional[_Iterable[str]] = ..., position: _Optional[_Iterable[float]] = ..., velocity: _Optional[_Iterable[float]] = ..., effort: _Optional[_Iterable[float]] = ..., timestamp: _Optional[float] = ...) -> None: ...
+
+class JointRequest(_message.Message):
+    __slots__ = ("header",)
+    HEADER_FIELD_NUMBER: _ClassVar[int]
+    header: _common_pb2.CommandHeader.Request
+    def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+
+class JointResponse(_message.Message):
+    __slots__ = ("header", "state")
+    HEADER_FIELD_NUMBER: _ClassVar[int]
+    STATE_FIELD_NUMBER: _ClassVar[int]
+    header: _common_pb2.CommandHeader.Feedback
+    state: JointState
+    def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., state: _Optional[_Union[JointState, _Mapping]] = ...) -> None: ...
+
+class GetPose(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "base_link", "ee_link")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        BASE_LINK_FIELD_NUMBER: _ClassVar[int]
+        EE_LINK_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        base_link: str
+        ee_link: str
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., base_link: _Optional[str] = ..., ee_link: _Optional[str] = ...) -> None: ...
+    class Response(_message.Message):
+        __slots__ = ("header", "pose")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        POSE_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        pose: CartesianPose
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., pose: _Optional[_Union[CartesianPose, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class CalibrateZeroQ(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "joint_name")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        JOINT_NAME_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        joint_name: str
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., joint_name: _Optional[str] = ...) -> None: ...
+    class Response(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetPoseMatrix(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "base_link", "ee_link")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        BASE_LINK_FIELD_NUMBER: _ClassVar[int]
+        EE_LINK_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        base_link: str
+        ee_link: str
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., base_link: _Optional[str] = ..., ee_link: _Optional[str] = ...) -> None: ...
+    class Response(_message.Message):
+        __slots__ = ("header", "matrix")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        MATRIX_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        matrix: TransformMatrix4x4
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., matrix: _Optional[_Union[TransformMatrix4x4, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class ComputeForwardKinematics(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "base_link", "ee_link", "joints")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        BASE_LINK_FIELD_NUMBER: _ClassVar[int]
+        EE_LINK_FIELD_NUMBER: _ClassVar[int]
+        JOINTS_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        base_link: str
+        ee_link: str
+        joints: JointPositionCommand
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., base_link: _Optional[str] = ..., ee_link: _Optional[str] = ..., joints: _Optional[_Union[JointPositionCommand, _Mapping]] = ...) -> None: ...
+    class Response(_message.Message):
+        __slots__ = ("header", "matrix")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        MATRIX_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        matrix: TransformMatrix4x4
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., matrix: _Optional[_Union[TransformMatrix4x4, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
diff --git a/src/cmvr/api/arm_command_pb2_grpc.py b/src/cmvr/api/arm_command_pb2_grpc.py
new file mode 100644
index 0000000..3accff3
--- /dev/null
+++ b/src/cmvr/api/arm_command_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/arm_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/api/arm_service_pb2.py b/src/cmvr/api/arm_service_pb2.py
new file mode 100644
index 0000000..2419ca9
--- /dev/null
+++ b/src/cmvr/api/arm_service_pb2.py
@@ -0,0 +1,38 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/arm_service.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/arm_service.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+from cmvr.api import arm_command_pb2 as cmvr_dot_api_dot_arm__command__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/arm_service.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\x1a\x1a\x63mvr/api/arm_command.proto2\xd5\x07\n\nArmService\x12N\n\ttorqueOff\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12M\n\x08torqueOn\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12:\n\x05moveJ\x12\x17.cmvr.api.MoveJ.Request\x1a\x18.cmvr.api.MoveJ.Response\x12:\n\x05moveL\x12\x17.cmvr.api.MoveL.Request\x1a\x18.cmvr.api.MoveL.Response\x12=\n\x06speedJ\x12\x18.cmvr.api.SpeedJ.Request\x1a\x19.cmvr.api.SpeedJ.Response\x12=\n\x06speedL\x12\x18.cmvr.api.SpeedL.Request\x1a\x19.cmvr.api.SpeedL.Response\x12=\n\x06servoJ\x12\x18.cmvr.api.ServoJ.Request\x1a\x19.cmvr.api.ServoJ.Response\x12O\n\nstopMotion\x12\x1f.cmvr.api.CommandHeader.Request\x1a .cmvr.api.CommandHeader.Feedback\x12@\n\rgetJointState\x12\x16.cmvr.api.JointRequest\x1a\x17.cmvr.api.JointResponse\x12@\n\x07getPose\x12\x19.cmvr.api.GetPose.Request\x1a\x1a.cmvr.api.GetPose.Response\x12U\n\x0e\x63\x61librateZeroQ\x12 .cmvr.api.CalibrateZeroQ.Request\x1a!.cmvr.api.CalibrateZeroQ.Response\x12R\n\rgetPoseMatrix\x12\x1f.cmvr.api.GetPoseMatrix.Request\x1a .cmvr.api.GetPoseMatrix.Response\x12s\n\x18\x63omputeForwardKinematics\x12*.cmvr.api.ComputeForwardKinematics.Request\x1a+.cmvr.api.ComputeForwardKinematics.Responseb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.arm_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_ARMSERVICE']._serialized_start=92
+  _globals['_ARMSERVICE']._serialized_end=1073
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/arm_service_pb2.pyi b/src/cmvr/api/arm_service_pb2.pyi
new file mode 100644
index 0000000..9d65316
--- /dev/null
+++ b/src/cmvr/api/arm_service_pb2.pyi
@@ -0,0 +1,6 @@
+from cmvr.api import common_pb2 as _common_pb2
+from cmvr.api import arm_command_pb2 as _arm_command_pb2
+from google.protobuf import descriptor as _descriptor
+from typing import ClassVar as _ClassVar
+
+DESCRIPTOR: _descriptor.FileDescriptor
diff --git a/src/cmvr/api/arm_service_pb2_grpc.py b/src/cmvr/api/arm_service_pb2_grpc.py
new file mode 100644
index 0000000..7f1b320
--- /dev/null
+++ b/src/cmvr/api/arm_service_pb2_grpc.py
@@ -0,0 +1,614 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+from cmvr.api import arm_command_pb2 as cmvr_dot_api_dot_arm__command__pb2
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/arm_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class ArmServiceStub:
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.torqueOff = channel.unary_unary(
+                '/cmvr.api.ArmService/torqueOff',
+                request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+                _registered_method=True)
+        self.torqueOn = channel.unary_unary(
+                '/cmvr.api.ArmService/torqueOn',
+                request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+                _registered_method=True)
+        self.moveJ = channel.unary_unary(
+                '/cmvr.api.ArmService/moveJ',
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Response.FromString,
+                _registered_method=True)
+        self.moveL = channel.unary_unary(
+                '/cmvr.api.ArmService/moveL',
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Response.FromString,
+                _registered_method=True)
+        self.speedJ = channel.unary_unary(
+                '/cmvr.api.ArmService/speedJ',
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Response.FromString,
+                _registered_method=True)
+        self.speedL = channel.unary_unary(
+                '/cmvr.api.ArmService/speedL',
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Response.FromString,
+                _registered_method=True)
+        self.servoJ = channel.unary_unary(
+                '/cmvr.api.ArmService/servoJ',
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Response.FromString,
+                _registered_method=True)
+        self.stopMotion = channel.unary_unary(
+                '/cmvr.api.ArmService/stopMotion',
+                request_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+                _registered_method=True)
+        self.getJointState = channel.unary_unary(
+                '/cmvr.api.ArmService/getJointState',
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.JointRequest.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.JointResponse.FromString,
+                _registered_method=True)
+        self.getPose = channel.unary_unary(
+                '/cmvr.api.ArmService/getPose',
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPose.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPose.Response.FromString,
+                _registered_method=True)
+        self.calibrateZeroQ = channel.unary_unary(
+                '/cmvr.api.ArmService/calibrateZeroQ',
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Response.FromString,
+                _registered_method=True)
+        self.getPoseMatrix = channel.unary_unary(
+                '/cmvr.api.ArmService/getPoseMatrix',
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Response.FromString,
+                _registered_method=True)
+        self.computeForwardKinematics = channel.unary_unary(
+                '/cmvr.api.ArmService/computeForwardKinematics',
+                request_serializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Response.FromString,
+                _registered_method=True)
+
+
+class ArmServiceServicer:
+    """Missing associated documentation comment in .proto file."""
+
+    def torqueOff(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def torqueOn(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def moveJ(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def moveL(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def speedJ(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def speedL(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def servoJ(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def stopMotion(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def getJointState(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def getPose(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def calibrateZeroQ(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def getPoseMatrix(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def computeForwardKinematics(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_ArmServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'torqueOff': grpc.unary_unary_rpc_method_handler(
+                    servicer.torqueOff,
+                    request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
+            ),
+            'torqueOn': grpc.unary_unary_rpc_method_handler(
+                    servicer.torqueOn,
+                    request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
+            ),
+            'moveJ': grpc.unary_unary_rpc_method_handler(
+                    servicer.moveJ,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveJ.Response.SerializeToString,
+            ),
+            'moveL': grpc.unary_unary_rpc_method_handler(
+                    servicer.moveL,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_arm__command__pb2.MoveL.Response.SerializeToString,
+            ),
+            'speedJ': grpc.unary_unary_rpc_method_handler(
+                    servicer.speedJ,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Response.SerializeToString,
+            ),
+            'speedL': grpc.unary_unary_rpc_method_handler(
+                    servicer.speedL,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_arm__command__pb2.SpeedL.Response.SerializeToString,
+            ),
+            'servoJ': grpc.unary_unary_rpc_method_handler(
+                    servicer.servoJ,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_arm__command__pb2.ServoJ.Response.SerializeToString,
+            ),
+            'stopMotion': grpc.unary_unary_rpc_method_handler(
+                    servicer.stopMotion,
+                    request_deserializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.SerializeToString,
+            ),
+            'getJointState': grpc.unary_unary_rpc_method_handler(
+                    servicer.getJointState,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.JointRequest.FromString,
+                    response_serializer=cmvr_dot_api_dot_arm__command__pb2.JointResponse.SerializeToString,
+            ),
+            'getPose': grpc.unary_unary_rpc_method_handler(
+                    servicer.getPose,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPose.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPose.Response.SerializeToString,
+            ),
+            'calibrateZeroQ': grpc.unary_unary_rpc_method_handler(
+                    servicer.calibrateZeroQ,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Response.SerializeToString,
+            ),
+            'getPoseMatrix': grpc.unary_unary_rpc_method_handler(
+                    servicer.getPoseMatrix,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Response.SerializeToString,
+            ),
+            'computeForwardKinematics': grpc.unary_unary_rpc_method_handler(
+                    servicer.computeForwardKinematics,
+                    request_deserializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Response.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'cmvr.api.ArmService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.ArmService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class ArmService:
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def torqueOff(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/torqueOff',
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def torqueOn(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/torqueOn',
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def moveJ(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/moveJ',
+            cmvr_dot_api_dot_arm__command__pb2.MoveJ.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.MoveJ.Response.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def moveL(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/moveL',
+            cmvr_dot_api_dot_arm__command__pb2.MoveL.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.MoveL.Response.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def speedJ(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/speedJ',
+            cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.SpeedJ.Response.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def speedL(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/speedL',
+            cmvr_dot_api_dot_arm__command__pb2.SpeedL.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.SpeedL.Response.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def servoJ(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/servoJ',
+            cmvr_dot_api_dot_arm__command__pb2.ServoJ.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.ServoJ.Response.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def stopMotion(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/stopMotion',
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Request.SerializeToString,
+            cmvr_dot_api_dot_common__pb2.CommandHeader.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def getJointState(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/getJointState',
+            cmvr_dot_api_dot_arm__command__pb2.JointRequest.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.JointResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def getPose(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/getPose',
+            cmvr_dot_api_dot_arm__command__pb2.GetPose.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.GetPose.Response.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def calibrateZeroQ(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/calibrateZeroQ',
+            cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.CalibrateZeroQ.Response.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def getPoseMatrix(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/getPoseMatrix',
+            cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.GetPoseMatrix.Response.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def computeForwardKinematics(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.ArmService/computeForwardKinematics',
+            cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Request.SerializeToString,
+            cmvr_dot_api_dot_arm__command__pb2.ComputeForwardKinematics.Response.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
diff --git a/src/cmvr/api/biohead_command_pb2.py b/src/cmvr/api/biohead_command_pb2.py
new file mode 100644
index 0000000..6e9bfa1
--- /dev/null
+++ b/src/cmvr/api/biohead_command_pb2.py
@@ -0,0 +1,125 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/biohead_command.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/biohead_command.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x63mvr/api/biohead_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"\xdd\x08\n\x10\x46\x61\x63ialExpression\x12\x33\n\x07\x65yebrow\x18\x03 \x01(\x0b\x32\".cmvr.api.FacialExpression.Eyebrow\x12\x31\n\x06\x65yelid\x18\x04 \x01(\x0b\x32!.cmvr.api.FacialExpression.Eyelid\x12\x33\n\x07\x65yeball\x18\x05 \x01(\x0b\x32\".cmvr.api.FacialExpression.Eyeball\x12-\n\x04nose\x18\x06 \x01(\x0b\x32\x1f.cmvr.api.FacialExpression.Nose\x12/\n\x05mouth\x18\x07 \x01(\x0b\x32 .cmvr.api.FacialExpression.Mouth\x12+\n\x03jaw\x18\x08 \x01(\x0b\x32\x1e.cmvr.api.FacialExpression.Jaw\x1ai\n\x07\x45yebrow\x12\x16\n\x0eleft_outside_y\x18\x01 \x01(\x02\x12\x15\n\rleft_inside_y\x18\x02 \x01(\x02\x12\x17\n\x0fright_outside_y\x18\x03 \x01(\x02\x12\x16\n\x0eright_inside_y\x18\x04 \x01(\x02\x1a\x62\n\x06\x45yelid\x12\x14\n\x0cleft_upper_y\x18\x01 \x01(\x02\x12\x14\n\x0cleft_lower_y\x18\x02 \x01(\x02\x12\x15\n\rright_upper_y\x18\x03 \x01(\x02\x12\x15\n\rright_lower_y\x18\x04 \x01(\x02\x1aK\n\x07\x45yeball\x12\x0e\n\x06left_x\x18\x01 \x01(\x02\x12\x0e\n\x06left_y\x18\x02 \x01(\x02\x12\x0f\n\x07right_x\x18\x03 \x01(\x02\x12\x0f\n\x07right_y\x18\x04 \x01(\x02\x1a\'\n\x04Nose\x12\x0e\n\x06left_y\x18\x01 \x01(\x02\x12\x0f\n\x07right_y\x18\x02 \x01(\x02\x1a\xbc\x03\n\x05Mouth\x12\x13\n\x0bupper_lip_y\x18\x01 \x01(\x02\x12\x13\n\x0bupper_lip_z\x18\x02 \x01(\x02\x12\x13\n\x0blower_lip_y\x18\x03 \x01(\x02\x12\x13\n\x0blower_lip_z\x18\x04 \x01(\x02\x12:\n\x08left_lip\x18\x05 \x01(\x0b\x32(.cmvr.api.FacialExpression.Mouth.LeftLip\x12<\n\tright_lip\x18\x06 \x01(\x0b\x32).cmvr.api.FacialExpression.Mouth.RightLip\x1aq\n\x07LeftLip\x12\x0f\n\x07upper_x\x18\x01 \x01(\x02\x12\x0f\n\x07upper_y\x18\x02 \x01(\x02\x12\x10\n\x08\x63orner_x\x18\x03 \x01(\x02\x12\x10\n\x08\x63orner_y\x18\x04 \x01(\x02\x12\x0f\n\x07lower_x\x18\x05 \x01(\x02\x12\x0f\n\x07lower_y\x18\x06 \x01(\x02\x1ar\n\x08RightLip\x12\x0f\n\x07upper_x\x18\x01 \x01(\x02\x12\x0f\n\x07upper_y\x18\x02 \x01(\x02\x12\x10\n\x08\x63orner_x\x18\x03 \x01(\x02\x12\x10\n\x08\x63orner_y\x18\x04 \x01(\x02\x12\x0f\n\x07lower_x\x18\x05 \x01(\x02\x12\x0f\n\x07lower_y\x18\x06 \x01(\x02\x1a\x1b\n\x03Jaw\x12\t\n\x01x\x18\x01 \x01(\x02\x12\t\n\x01y\x18\x02 \x01(\x02\"\xf0\x01\n\x13SetFacialExpression\x1aj\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12.\n\nexpression\x18\x02 \x01(\x0b\x32\x1a.cmvr.api.FacialExpression\x1am\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x14\n\x0c\x65xecution_id\x18\x02 \x01(\t\x12\x19\n\x11\x65xecution_time_ms\x18\x03 \x01(\x02\"\xf8\x01\n\x16StreamFacialExpression\x1aq\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12(\n\x04\x65xpr\x18\x02 \x01(\x0b\x32\x1a.cmvr.api.FacialExpression\x12\x0b\n\x03\x65of\x18\x03 \x01(\x08\x1ak\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12-\n\texpr_diff\x18\x02 \x01(\x0b\x32\x1a.cmvr.api.FacialExpression\"\x84\x02\n\tGetStatus\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\xba\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x11\n\tis_moving\x18\x02 \x01(\x08\x12\x17\n\x0flast_request_id\x18\x03 \x01(\t\x12\x19\n\x11\x63urrent_positions\x18\x04 \x03(\x02\x12\x18\n\x10\x63\x61mera_recording\x18\x05 \x01(\x08\x12\x1b\n\x13\x61\x63tive_recording_id\x18\x06 \x01(\t\"\xa4\x01\n\rEmergencyStop\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1aW\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x19\n\x11stopped_processes\x18\x02 \x01(\t\"\x86\x01\n\nSpeakStart\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x85\x01\n\tSpeakStop\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x81\x01\n\x05Happy\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x84\x01\n\x08Surprise\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8b\x01\n\x0f\x45xpressionTired\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8b\x01\n\x0f\x45xpressionAngry\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8d\x01\n\x11\x45xpressionSadness\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8a\x01\n\x0e\x45xpressionYawn\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedbackb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.biohead_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_FACIALEXPRESSION']._serialized_start=68
+  _globals['_FACIALEXPRESSION']._serialized_end=1185
+  _globals['_FACIALEXPRESSION_EYEBROW']._serialized_start=386
+  _globals['_FACIALEXPRESSION_EYEBROW']._serialized_end=491
+  _globals['_FACIALEXPRESSION_EYELID']._serialized_start=493
+  _globals['_FACIALEXPRESSION_EYELID']._serialized_end=591
+  _globals['_FACIALEXPRESSION_EYEBALL']._serialized_start=593
+  _globals['_FACIALEXPRESSION_EYEBALL']._serialized_end=668
+  _globals['_FACIALEXPRESSION_NOSE']._serialized_start=670
+  _globals['_FACIALEXPRESSION_NOSE']._serialized_end=709
+  _globals['_FACIALEXPRESSION_MOUTH']._serialized_start=712
+  _globals['_FACIALEXPRESSION_MOUTH']._serialized_end=1156
+  _globals['_FACIALEXPRESSION_MOUTH_LEFTLIP']._serialized_start=927
+  _globals['_FACIALEXPRESSION_MOUTH_LEFTLIP']._serialized_end=1040
+  _globals['_FACIALEXPRESSION_MOUTH_RIGHTLIP']._serialized_start=1042
+  _globals['_FACIALEXPRESSION_MOUTH_RIGHTLIP']._serialized_end=1156
+  _globals['_FACIALEXPRESSION_JAW']._serialized_start=1158
+  _globals['_FACIALEXPRESSION_JAW']._serialized_end=1185
+  _globals['_SETFACIALEXPRESSION']._serialized_start=1188
+  _globals['_SETFACIALEXPRESSION']._serialized_end=1428
+  _globals['_SETFACIALEXPRESSION_REQUEST']._serialized_start=1211
+  _globals['_SETFACIALEXPRESSION_REQUEST']._serialized_end=1317
+  _globals['_SETFACIALEXPRESSION_FEEDBACK']._serialized_start=1319
+  _globals['_SETFACIALEXPRESSION_FEEDBACK']._serialized_end=1428
+  _globals['_STREAMFACIALEXPRESSION']._serialized_start=1431
+  _globals['_STREAMFACIALEXPRESSION']._serialized_end=1679
+  _globals['_STREAMFACIALEXPRESSION_REQUEST']._serialized_start=1457
+  _globals['_STREAMFACIALEXPRESSION_REQUEST']._serialized_end=1570
+  _globals['_STREAMFACIALEXPRESSION_FEEDBACK']._serialized_start=1572
+  _globals['_STREAMFACIALEXPRESSION_FEEDBACK']._serialized_end=1679
+  _globals['_GETSTATUS']._serialized_start=1682
+  _globals['_GETSTATUS']._serialized_end=1942
+  _globals['_GETSTATUS_REQUEST']._serialized_start=1211
+  _globals['_GETSTATUS_REQUEST']._serialized_end=1269
+  _globals['_GETSTATUS_FEEDBACK']._serialized_start=1756
+  _globals['_GETSTATUS_FEEDBACK']._serialized_end=1942
+  _globals['_EMERGENCYSTOP']._serialized_start=1945
+  _globals['_EMERGENCYSTOP']._serialized_end=2109
+  _globals['_EMERGENCYSTOP_REQUEST']._serialized_start=1211
+  _globals['_EMERGENCYSTOP_REQUEST']._serialized_end=1269
+  _globals['_EMERGENCYSTOP_FEEDBACK']._serialized_start=2022
+  _globals['_EMERGENCYSTOP_FEEDBACK']._serialized_end=2109
+  _globals['_SPEAKSTART']._serialized_start=2112
+  _globals['_SPEAKSTART']._serialized_end=2246
+  _globals['_SPEAKSTART_REQUEST']._serialized_start=1211
+  _globals['_SPEAKSTART_REQUEST']._serialized_end=1269
+  _globals['_SPEAKSTART_FEEDBACK']._serialized_start=1319
+  _globals['_SPEAKSTART_FEEDBACK']._serialized_end=1379
+  _globals['_SPEAKSTOP']._serialized_start=2249
+  _globals['_SPEAKSTOP']._serialized_end=2382
+  _globals['_SPEAKSTOP_REQUEST']._serialized_start=1211
+  _globals['_SPEAKSTOP_REQUEST']._serialized_end=1269
+  _globals['_SPEAKSTOP_FEEDBACK']._serialized_start=1319
+  _globals['_SPEAKSTOP_FEEDBACK']._serialized_end=1379
+  _globals['_HAPPY']._serialized_start=2385
+  _globals['_HAPPY']._serialized_end=2514
+  _globals['_HAPPY_REQUEST']._serialized_start=1211
+  _globals['_HAPPY_REQUEST']._serialized_end=1269
+  _globals['_HAPPY_FEEDBACK']._serialized_start=1319
+  _globals['_HAPPY_FEEDBACK']._serialized_end=1379
+  _globals['_SURPRISE']._serialized_start=2517
+  _globals['_SURPRISE']._serialized_end=2649
+  _globals['_SURPRISE_REQUEST']._serialized_start=1211
+  _globals['_SURPRISE_REQUEST']._serialized_end=1269
+  _globals['_SURPRISE_FEEDBACK']._serialized_start=1319
+  _globals['_SURPRISE_FEEDBACK']._serialized_end=1379
+  _globals['_EXPRESSIONTIRED']._serialized_start=2652
+  _globals['_EXPRESSIONTIRED']._serialized_end=2791
+  _globals['_EXPRESSIONTIRED_REQUEST']._serialized_start=1211
+  _globals['_EXPRESSIONTIRED_REQUEST']._serialized_end=1269
+  _globals['_EXPRESSIONTIRED_FEEDBACK']._serialized_start=1319
+  _globals['_EXPRESSIONTIRED_FEEDBACK']._serialized_end=1379
+  _globals['_EXPRESSIONANGRY']._serialized_start=2794
+  _globals['_EXPRESSIONANGRY']._serialized_end=2933
+  _globals['_EXPRESSIONANGRY_REQUEST']._serialized_start=1211
+  _globals['_EXPRESSIONANGRY_REQUEST']._serialized_end=1269
+  _globals['_EXPRESSIONANGRY_FEEDBACK']._serialized_start=1319
+  _globals['_EXPRESSIONANGRY_FEEDBACK']._serialized_end=1379
+  _globals['_EXPRESSIONSADNESS']._serialized_start=2936
+  _globals['_EXPRESSIONSADNESS']._serialized_end=3077
+  _globals['_EXPRESSIONSADNESS_REQUEST']._serialized_start=1211
+  _globals['_EXPRESSIONSADNESS_REQUEST']._serialized_end=1269
+  _globals['_EXPRESSIONSADNESS_FEEDBACK']._serialized_start=1319
+  _globals['_EXPRESSIONSADNESS_FEEDBACK']._serialized_end=1379
+  _globals['_EXPRESSIONYAWN']._serialized_start=3080
+  _globals['_EXPRESSIONYAWN']._serialized_end=3218
+  _globals['_EXPRESSIONYAWN_REQUEST']._serialized_start=1211
+  _globals['_EXPRESSIONYAWN_REQUEST']._serialized_end=1269
+  _globals['_EXPRESSIONYAWN_FEEDBACK']._serialized_start=1319
+  _globals['_EXPRESSIONYAWN_FEEDBACK']._serialized_end=1379
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/biohead_command_pb2.pyi b/src/cmvr/api/biohead_command_pb2.pyi
new file mode 100644
index 0000000..a53f237
--- /dev/null
+++ b/src/cmvr/api/biohead_command_pb2.pyi
@@ -0,0 +1,308 @@
+from cmvr.api import common_pb2 as _common_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class FacialExpression(_message.Message):
+    __slots__ = ("eyebrow", "eyelid", "eyeball", "nose", "mouth", "jaw")
+    class Eyebrow(_message.Message):
+        __slots__ = ("left_outside_y", "left_inside_y", "right_outside_y", "right_inside_y")
+        LEFT_OUTSIDE_Y_FIELD_NUMBER: _ClassVar[int]
+        LEFT_INSIDE_Y_FIELD_NUMBER: _ClassVar[int]
+        RIGHT_OUTSIDE_Y_FIELD_NUMBER: _ClassVar[int]
+        RIGHT_INSIDE_Y_FIELD_NUMBER: _ClassVar[int]
+        left_outside_y: float
+        left_inside_y: float
+        right_outside_y: float
+        right_inside_y: float
+        def __init__(self, left_outside_y: _Optional[float] = ..., left_inside_y: _Optional[float] = ..., right_outside_y: _Optional[float] = ..., right_inside_y: _Optional[float] = ...) -> None: ...
+    class Eyelid(_message.Message):
+        __slots__ = ("left_upper_y", "left_lower_y", "right_upper_y", "right_lower_y")
+        LEFT_UPPER_Y_FIELD_NUMBER: _ClassVar[int]
+        LEFT_LOWER_Y_FIELD_NUMBER: _ClassVar[int]
+        RIGHT_UPPER_Y_FIELD_NUMBER: _ClassVar[int]
+        RIGHT_LOWER_Y_FIELD_NUMBER: _ClassVar[int]
+        left_upper_y: float
+        left_lower_y: float
+        right_upper_y: float
+        right_lower_y: float
+        def __init__(self, left_upper_y: _Optional[float] = ..., left_lower_y: _Optional[float] = ..., right_upper_y: _Optional[float] = ..., right_lower_y: _Optional[float] = ...) -> None: ...
+    class Eyeball(_message.Message):
+        __slots__ = ("left_x", "left_y", "right_x", "right_y")
+        LEFT_X_FIELD_NUMBER: _ClassVar[int]
+        LEFT_Y_FIELD_NUMBER: _ClassVar[int]
+        RIGHT_X_FIELD_NUMBER: _ClassVar[int]
+        RIGHT_Y_FIELD_NUMBER: _ClassVar[int]
+        left_x: float
+        left_y: float
+        right_x: float
+        right_y: float
+        def __init__(self, left_x: _Optional[float] = ..., left_y: _Optional[float] = ..., right_x: _Optional[float] = ..., right_y: _Optional[float] = ...) -> None: ...
+    class Nose(_message.Message):
+        __slots__ = ("left_y", "right_y")
+        LEFT_Y_FIELD_NUMBER: _ClassVar[int]
+        RIGHT_Y_FIELD_NUMBER: _ClassVar[int]
+        left_y: float
+        right_y: float
+        def __init__(self, left_y: _Optional[float] = ..., right_y: _Optional[float] = ...) -> None: ...
+    class Mouth(_message.Message):
+        __slots__ = ("upper_lip_y", "upper_lip_z", "lower_lip_y", "lower_lip_z", "left_lip", "right_lip")
+        class LeftLip(_message.Message):
+            __slots__ = ("upper_x", "upper_y", "corner_x", "corner_y", "lower_x", "lower_y")
+            UPPER_X_FIELD_NUMBER: _ClassVar[int]
+            UPPER_Y_FIELD_NUMBER: _ClassVar[int]
+            CORNER_X_FIELD_NUMBER: _ClassVar[int]
+            CORNER_Y_FIELD_NUMBER: _ClassVar[int]
+            LOWER_X_FIELD_NUMBER: _ClassVar[int]
+            LOWER_Y_FIELD_NUMBER: _ClassVar[int]
+            upper_x: float
+            upper_y: float
+            corner_x: float
+            corner_y: float
+            lower_x: float
+            lower_y: float
+            def __init__(self, upper_x: _Optional[float] = ..., upper_y: _Optional[float] = ..., corner_x: _Optional[float] = ..., corner_y: _Optional[float] = ..., lower_x: _Optional[float] = ..., lower_y: _Optional[float] = ...) -> None: ...
+        class RightLip(_message.Message):
+            __slots__ = ("upper_x", "upper_y", "corner_x", "corner_y", "lower_x", "lower_y")
+            UPPER_X_FIELD_NUMBER: _ClassVar[int]
+            UPPER_Y_FIELD_NUMBER: _ClassVar[int]
+            CORNER_X_FIELD_NUMBER: _ClassVar[int]
+            CORNER_Y_FIELD_NUMBER: _ClassVar[int]
+            LOWER_X_FIELD_NUMBER: _ClassVar[int]
+            LOWER_Y_FIELD_NUMBER: _ClassVar[int]
+            upper_x: float
+            upper_y: float
+            corner_x: float
+            corner_y: float
+            lower_x: float
+            lower_y: float
+            def __init__(self, upper_x: _Optional[float] = ..., upper_y: _Optional[float] = ..., corner_x: _Optional[float] = ..., corner_y: _Optional[float] = ..., lower_x: _Optional[float] = ..., lower_y: _Optional[float] = ...) -> None: ...
+        UPPER_LIP_Y_FIELD_NUMBER: _ClassVar[int]
+        UPPER_LIP_Z_FIELD_NUMBER: _ClassVar[int]
+        LOWER_LIP_Y_FIELD_NUMBER: _ClassVar[int]
+        LOWER_LIP_Z_FIELD_NUMBER: _ClassVar[int]
+        LEFT_LIP_FIELD_NUMBER: _ClassVar[int]
+        RIGHT_LIP_FIELD_NUMBER: _ClassVar[int]
+        upper_lip_y: float
+        upper_lip_z: float
+        lower_lip_y: float
+        lower_lip_z: float
+        left_lip: FacialExpression.Mouth.LeftLip
+        right_lip: FacialExpression.Mouth.RightLip
+        def __init__(self, upper_lip_y: _Optional[float] = ..., upper_lip_z: _Optional[float] = ..., lower_lip_y: _Optional[float] = ..., lower_lip_z: _Optional[float] = ..., left_lip: _Optional[_Union[FacialExpression.Mouth.LeftLip, _Mapping]] = ..., right_lip: _Optional[_Union[FacialExpression.Mouth.RightLip, _Mapping]] = ...) -> None: ...
+    class Jaw(_message.Message):
+        __slots__ = ("x", "y")
+        X_FIELD_NUMBER: _ClassVar[int]
+        Y_FIELD_NUMBER: _ClassVar[int]
+        x: float
+        y: float
+        def __init__(self, x: _Optional[float] = ..., y: _Optional[float] = ...) -> None: ...
+    EYEBROW_FIELD_NUMBER: _ClassVar[int]
+    EYELID_FIELD_NUMBER: _ClassVar[int]
+    EYEBALL_FIELD_NUMBER: _ClassVar[int]
+    NOSE_FIELD_NUMBER: _ClassVar[int]
+    MOUTH_FIELD_NUMBER: _ClassVar[int]
+    JAW_FIELD_NUMBER: _ClassVar[int]
+    eyebrow: FacialExpression.Eyebrow
+    eyelid: FacialExpression.Eyelid
+    eyeball: FacialExpression.Eyeball
+    nose: FacialExpression.Nose
+    mouth: FacialExpression.Mouth
+    jaw: FacialExpression.Jaw
+    def __init__(self, eyebrow: _Optional[_Union[FacialExpression.Eyebrow, _Mapping]] = ..., eyelid: _Optional[_Union[FacialExpression.Eyelid, _Mapping]] = ..., eyeball: _Optional[_Union[FacialExpression.Eyeball, _Mapping]] = ..., nose: _Optional[_Union[FacialExpression.Nose, _Mapping]] = ..., mouth: _Optional[_Union[FacialExpression.Mouth, _Mapping]] = ..., jaw: _Optional[_Union[FacialExpression.Jaw, _Mapping]] = ...) -> None: ...
+
+class SetFacialExpression(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "expression")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        EXPRESSION_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        expression: FacialExpression
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., expression: _Optional[_Union[FacialExpression, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "execution_id", "execution_time_ms")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        EXECUTION_ID_FIELD_NUMBER: _ClassVar[int]
+        EXECUTION_TIME_MS_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        execution_id: str
+        execution_time_ms: float
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., execution_id: _Optional[str] = ..., execution_time_ms: _Optional[float] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class StreamFacialExpression(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "expr", "eof")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        EXPR_FIELD_NUMBER: _ClassVar[int]
+        EOF_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        expr: FacialExpression
+        eof: bool
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., expr: _Optional[_Union[FacialExpression, _Mapping]] = ..., eof: _Optional[bool] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "expr_diff")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        EXPR_DIFF_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        expr_diff: FacialExpression
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., expr_diff: _Optional[_Union[FacialExpression, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetStatus(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "is_moving", "last_request_id", "current_positions", "camera_recording", "active_recording_id")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        IS_MOVING_FIELD_NUMBER: _ClassVar[int]
+        LAST_REQUEST_ID_FIELD_NUMBER: _ClassVar[int]
+        CURRENT_POSITIONS_FIELD_NUMBER: _ClassVar[int]
+        CAMERA_RECORDING_FIELD_NUMBER: _ClassVar[int]
+        ACTIVE_RECORDING_ID_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        is_moving: bool
+        last_request_id: str
+        current_positions: _containers.RepeatedScalarFieldContainer[float]
+        camera_recording: bool
+        active_recording_id: str
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., is_moving: _Optional[bool] = ..., last_request_id: _Optional[str] = ..., current_positions: _Optional[_Iterable[float]] = ..., camera_recording: _Optional[bool] = ..., active_recording_id: _Optional[str] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class EmergencyStop(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "stopped_processes")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        STOPPED_PROCESSES_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        stopped_processes: str
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., stopped_processes: _Optional[str] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class SpeakStart(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class SpeakStop(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class Happy(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class Surprise(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class ExpressionTired(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class ExpressionAngry(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class ExpressionSadness(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class ExpressionYawn(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
diff --git a/src/cmvr/api/biohead_command_pb2_grpc.py b/src/cmvr/api/biohead_command_pb2_grpc.py
new file mode 100644
index 0000000..dec6b6d
--- /dev/null
+++ b/src/cmvr/api/biohead_command_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/biohead_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/api/biohead_service_pb2.py b/src/cmvr/api/biohead_service_pb2.py
new file mode 100644
index 0000000..9d96131
--- /dev/null
+++ b/src/cmvr/api/biohead_service_pb2.py
@@ -0,0 +1,37 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/biohead_service.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/biohead_service.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import biohead_command_pb2 as cmvr_dot_api_dot_biohead__command__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x63mvr/api/biohead_service.proto\x12\x08\x63mvr.api\x1a\x1e\x63mvr/api/biohead_command.proto2\x94\x08\n\x0e\x42ioHeadService\x12`\n\rSetExpression\x12%.cmvr.api.SetFacialExpression.Request\x1a&.cmvr.api.SetFacialExpression.Feedback\"\x00\x12k\n\x10StreamExpression\x12(.cmvr.api.StreamFacialExpression.Request\x1a).cmvr.api.StreamFacialExpression.Feedback(\x01\x30\x01\x12N\n\x0fGetSystemStatus\x12\x1b.cmvr.api.GetStatus.Request\x1a\x1c.cmvr.api.GetStatus.Feedback\"\x00\x12T\n\rEmergencyStop\x12\x1f.cmvr.api.EmergencyStop.Request\x1a .cmvr.api.EmergencyStop.Feedback\"\x00\x12K\n\nSpeakStart\x12\x1c.cmvr.api.SpeakStart.Request\x1a\x1d.cmvr.api.SpeakStart.Feedback\"\x00\x12H\n\tSpeakStop\x12\x1b.cmvr.api.SpeakStop.Request\x1a\x1c.cmvr.api.SpeakStop.Feedback\"\x00\x12<\n\x05Happy\x12\x17.cmvr.api.Happy.Request\x1a\x18.cmvr.api.Happy.Feedback\"\x00\x12\x45\n\x08Surprise\x12\x1a.cmvr.api.Surprise.Request\x1a\x1b.cmvr.api.Surprise.Feedback\"\x00\x12Z\n\x0f\x45xpressionTired\x12!.cmvr.api.ExpressionTired.Request\x1a\".cmvr.api.ExpressionTired.Feedback\"\x00\x12Z\n\x0f\x45xpressionAngry\x12!.cmvr.api.ExpressionAngry.Request\x1a\".cmvr.api.ExpressionAngry.Feedback\"\x00\x12`\n\x11\x45xpressionSadness\x12#.cmvr.api.ExpressionSadness.Request\x1a$.cmvr.api.ExpressionSadness.Feedback\"\x00\x12W\n\x0e\x45xpressionYawn\x12 .cmvr.api.ExpressionYawn.Request\x1a!.cmvr.api.ExpressionYawn.Feedback\"\x00\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.biohead_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_BIOHEADSERVICE']._serialized_start=77
+  _globals['_BIOHEADSERVICE']._serialized_end=1121
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/biohead_service_pb2.pyi b/src/cmvr/api/biohead_service_pb2.pyi
new file mode 100644
index 0000000..b20ed1e
--- /dev/null
+++ b/src/cmvr/api/biohead_service_pb2.pyi
@@ -0,0 +1,5 @@
+from cmvr.api import biohead_command_pb2 as _biohead_command_pb2
+from google.protobuf import descriptor as _descriptor
+from typing import ClassVar as _ClassVar
+
+DESCRIPTOR: _descriptor.FileDescriptor
diff --git a/src/cmvr/api/biohead_service_pb2_grpc.py b/src/cmvr/api/biohead_service_pb2_grpc.py
new file mode 100644
index 0000000..41adafe
--- /dev/null
+++ b/src/cmvr/api/biohead_service_pb2_grpc.py
@@ -0,0 +1,581 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+from cmvr.api import biohead_command_pb2 as cmvr_dot_api_dot_biohead__command__pb2
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/biohead_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class BioHeadServiceStub:
+    """生物头部机器人服务接口
+    """
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.SetExpression = channel.unary_unary(
+                '/cmvr.api.BioHeadService/SetExpression',
+                request_serializer=cmvr_dot_api_dot_biohead__command__pb2.SetFacialExpression.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.SetFacialExpression.Feedback.FromString,
+                _registered_method=True)
+        self.StreamExpression = channel.stream_stream(
+                '/cmvr.api.BioHeadService/StreamExpression',
+                request_serializer=cmvr_dot_api_dot_biohead__command__pb2.StreamFacialExpression.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.StreamFacialExpression.Feedback.FromString,
+                _registered_method=True)
+        self.GetSystemStatus = channel.unary_unary(
+                '/cmvr.api.BioHeadService/GetSystemStatus',
+                request_serializer=cmvr_dot_api_dot_biohead__command__pb2.GetStatus.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.GetStatus.Feedback.FromString,
+                _registered_method=True)
+        self.EmergencyStop = channel.unary_unary(
+                '/cmvr.api.BioHeadService/EmergencyStop',
+                request_serializer=cmvr_dot_api_dot_biohead__command__pb2.EmergencyStop.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.EmergencyStop.Feedback.FromString,
+                _registered_method=True)
+        self.SpeakStart = channel.unary_unary(
+                '/cmvr.api.BioHeadService/SpeakStart',
+                request_serializer=cmvr_dot_api_dot_biohead__command__pb2.SpeakStart.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.SpeakStart.Feedback.FromString,
+                _registered_method=True)
+        self.SpeakStop = channel.unary_unary(
+                '/cmvr.api.BioHeadService/SpeakStop',
+                request_serializer=cmvr_dot_api_dot_biohead__command__pb2.SpeakStop.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.SpeakStop.Feedback.FromString,
+                _registered_method=True)
+        self.Happy = channel.unary_unary(
+                '/cmvr.api.BioHeadService/Happy',
+                request_serializer=cmvr_dot_api_dot_biohead__command__pb2.Happy.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.Happy.Feedback.FromString,
+                _registered_method=True)
+        self.Surprise = channel.unary_unary(
+                '/cmvr.api.BioHeadService/Surprise',
+                request_serializer=cmvr_dot_api_dot_biohead__command__pb2.Surprise.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.Surprise.Feedback.FromString,
+                _registered_method=True)
+        self.ExpressionTired = channel.unary_unary(
+                '/cmvr.api.BioHeadService/ExpressionTired',
+                request_serializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionTired.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionTired.Feedback.FromString,
+                _registered_method=True)
+        self.ExpressionAngry = channel.unary_unary(
+                '/cmvr.api.BioHeadService/ExpressionAngry',
+                request_serializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionAngry.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionAngry.Feedback.FromString,
+                _registered_method=True)
+        self.ExpressionSadness = channel.unary_unary(
+                '/cmvr.api.BioHeadService/ExpressionSadness',
+                request_serializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionSadness.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionSadness.Feedback.FromString,
+                _registered_method=True)
+        self.ExpressionYawn = channel.unary_unary(
+                '/cmvr.api.BioHeadService/ExpressionYawn',
+                request_serializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionYawn.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionYawn.Feedback.FromString,
+                _registered_method=True)
+
+
+class BioHeadServiceServicer:
+    """生物头部机器人服务接口
+    """
+
+    def SetExpression(self, request, context):
+        """设置面部表情
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StreamExpression(self, request_iterator, context):
+        """流式表情控制
+        rpc StreamExpression(StreamFacialExpression.Request) returns (StreamFacialExpression.Feedback){};
+
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetSystemStatus(self, request, context):
+        """获取状态
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def EmergencyStop(self, request, context):
+        """紧急停止
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SpeakStart(self, request, context):
+        """开始说话
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SpeakStop(self, request, context):
+        """停止说话
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def Happy(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def Surprise(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ExpressionTired(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ExpressionAngry(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ExpressionSadness(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ExpressionYawn(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_BioHeadServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'SetExpression': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetExpression,
+                    request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.SetFacialExpression.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_biohead__command__pb2.SetFacialExpression.Feedback.SerializeToString,
+            ),
+            'StreamExpression': grpc.stream_stream_rpc_method_handler(
+                    servicer.StreamExpression,
+                    request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.StreamFacialExpression.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_biohead__command__pb2.StreamFacialExpression.Feedback.SerializeToString,
+            ),
+            'GetSystemStatus': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetSystemStatus,
+                    request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.GetStatus.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_biohead__command__pb2.GetStatus.Feedback.SerializeToString,
+            ),
+            'EmergencyStop': grpc.unary_unary_rpc_method_handler(
+                    servicer.EmergencyStop,
+                    request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.EmergencyStop.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_biohead__command__pb2.EmergencyStop.Feedback.SerializeToString,
+            ),
+            'SpeakStart': grpc.unary_unary_rpc_method_handler(
+                    servicer.SpeakStart,
+                    request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.SpeakStart.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_biohead__command__pb2.SpeakStart.Feedback.SerializeToString,
+            ),
+            'SpeakStop': grpc.unary_unary_rpc_method_handler(
+                    servicer.SpeakStop,
+                    request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.SpeakStop.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_biohead__command__pb2.SpeakStop.Feedback.SerializeToString,
+            ),
+            'Happy': grpc.unary_unary_rpc_method_handler(
+                    servicer.Happy,
+                    request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.Happy.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_biohead__command__pb2.Happy.Feedback.SerializeToString,
+            ),
+            'Surprise': grpc.unary_unary_rpc_method_handler(
+                    servicer.Surprise,
+                    request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.Surprise.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_biohead__command__pb2.Surprise.Feedback.SerializeToString,
+            ),
+            'ExpressionTired': grpc.unary_unary_rpc_method_handler(
+                    servicer.ExpressionTired,
+                    request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionTired.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionTired.Feedback.SerializeToString,
+            ),
+            'ExpressionAngry': grpc.unary_unary_rpc_method_handler(
+                    servicer.ExpressionAngry,
+                    request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionAngry.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionAngry.Feedback.SerializeToString,
+            ),
+            'ExpressionSadness': grpc.unary_unary_rpc_method_handler(
+                    servicer.ExpressionSadness,
+                    request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionSadness.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionSadness.Feedback.SerializeToString,
+            ),
+            'ExpressionYawn': grpc.unary_unary_rpc_method_handler(
+                    servicer.ExpressionYawn,
+                    request_deserializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionYawn.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_biohead__command__pb2.ExpressionYawn.Feedback.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'cmvr.api.BioHeadService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.BioHeadService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class BioHeadService:
+    """生物头部机器人服务接口
+    """
+
+    @staticmethod
+    def SetExpression(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.BioHeadService/SetExpression',
+            cmvr_dot_api_dot_biohead__command__pb2.SetFacialExpression.Request.SerializeToString,
+            cmvr_dot_api_dot_biohead__command__pb2.SetFacialExpression.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def StreamExpression(request_iterator,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.stream_stream(
+            request_iterator,
+            target,
+            '/cmvr.api.BioHeadService/StreamExpression',
+            cmvr_dot_api_dot_biohead__command__pb2.StreamFacialExpression.Request.SerializeToString,
+            cmvr_dot_api_dot_biohead__command__pb2.StreamFacialExpression.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetSystemStatus(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.BioHeadService/GetSystemStatus',
+            cmvr_dot_api_dot_biohead__command__pb2.GetStatus.Request.SerializeToString,
+            cmvr_dot_api_dot_biohead__command__pb2.GetStatus.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def EmergencyStop(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.BioHeadService/EmergencyStop',
+            cmvr_dot_api_dot_biohead__command__pb2.EmergencyStop.Request.SerializeToString,
+            cmvr_dot_api_dot_biohead__command__pb2.EmergencyStop.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def SpeakStart(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.BioHeadService/SpeakStart',
+            cmvr_dot_api_dot_biohead__command__pb2.SpeakStart.Request.SerializeToString,
+            cmvr_dot_api_dot_biohead__command__pb2.SpeakStart.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def SpeakStop(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.BioHeadService/SpeakStop',
+            cmvr_dot_api_dot_biohead__command__pb2.SpeakStop.Request.SerializeToString,
+            cmvr_dot_api_dot_biohead__command__pb2.SpeakStop.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def Happy(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.BioHeadService/Happy',
+            cmvr_dot_api_dot_biohead__command__pb2.Happy.Request.SerializeToString,
+            cmvr_dot_api_dot_biohead__command__pb2.Happy.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def Surprise(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.BioHeadService/Surprise',
+            cmvr_dot_api_dot_biohead__command__pb2.Surprise.Request.SerializeToString,
+            cmvr_dot_api_dot_biohead__command__pb2.Surprise.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def ExpressionTired(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.BioHeadService/ExpressionTired',
+            cmvr_dot_api_dot_biohead__command__pb2.ExpressionTired.Request.SerializeToString,
+            cmvr_dot_api_dot_biohead__command__pb2.ExpressionTired.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def ExpressionAngry(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.BioHeadService/ExpressionAngry',
+            cmvr_dot_api_dot_biohead__command__pb2.ExpressionAngry.Request.SerializeToString,
+            cmvr_dot_api_dot_biohead__command__pb2.ExpressionAngry.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def ExpressionSadness(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.BioHeadService/ExpressionSadness',
+            cmvr_dot_api_dot_biohead__command__pb2.ExpressionSadness.Request.SerializeToString,
+            cmvr_dot_api_dot_biohead__command__pb2.ExpressionSadness.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def ExpressionYawn(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.BioHeadService/ExpressionYawn',
+            cmvr_dot_api_dot_biohead__command__pb2.ExpressionYawn.Request.SerializeToString,
+            cmvr_dot_api_dot_biohead__command__pb2.ExpressionYawn.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
diff --git a/src/cmvr/api/camera_command_pb2.py b/src/cmvr/api/camera_command_pb2.py
new file mode 100644
index 0000000..2b194f2
--- /dev/null
+++ b/src/cmvr/api/camera_command_pb2.py
@@ -0,0 +1,111 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/camera_command.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/camera_command.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1d\x63mvr/api/camera_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"\xd7\x01\n\tFrameData\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\x0c\x12\r\n\x05width\x18\x02 \x01(\x05\x12\x0e\n\x06height\x18\x03 \x01(\x05\x12+\n\x04type\x18\x04 \x01(\x0e\x32\x1d.cmvr.api.FrameData.FrameType\x12\r\n\x05\x63odec\x18\x05 \x01(\t\x12\x14\n\x0cis_key_frame\x18\x06 \x01(\x08\"K\n\tFrameType\x12\x08\n\x04U8C1\x10\x00\x12\t\n\x05U16C1\x10\x01\x12\x08\n\x04U8C3\x10\x02\x12\t\n\x05U16C3\x10\x03\x12\t\n\x05\x46\x31\x36\x43\x31\x10\x04\x12\t\n\x05\x46\x33\x32\x43\x31\x10\x05\"V\n\x10\x43\x61meraIntrinsics\x12\n\n\x02\x63x\x18\x01 \x01(\x02\x12\n\n\x02\x63y\x18\x02 \x01(\x02\x12\n\n\x02\x66x\x18\x03 \x01(\x02\x12\n\n\x02\x66y\x18\x04 \x01(\x02\x12\x12\n\x06\x63oeffs\x18\x05 \x03(\x02\x42\x02\x10\x01\"\xb9\x01\n\x0b\x43\x61meraState\x12\x16\n\x0eis_initialized\x18\x01 \x01(\x08\x12\x11\n\tis_opened\x18\x02 \x01(\x08\x12\x14\n\x0cis_streaming\x18\x03 \x01(\x08\x12\x14\n\x0cis_recording\x18\x04 \x01(\x08\x12\x10\n\x08is_error\x18\x05 \x01(\x08\x12\x15\n\rerror_message\x18\x06 \x01(\t\x12\x0b\n\x03\x66ps\x18\x07 \x01(\x05\x12\r\n\x05width\x18\x08 \x01(\x05\x12\x0e\n\x06height\x18\t \x01(\x05\"\xb7\x01\n\x15GetCameraStateCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x62\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12$\n\x05state\x18\x02 \x01(\x0b\x32\x15.cmvr.api.CameraState\"\x8e\x01\n\x12StartCameraCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8d\x01\n\x11StopCameraCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xe9\x01\n\x12GetRGBImageCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x96\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12(\n\x0b\x63olor_frame\x18\x02 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12.\n\nintrinsics\x18\x03 \x01(\x0b\x32\x1a.cmvr.api.CameraIntrinsics\"\xeb\x01\n\x14GetDepthImageCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x96\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12(\n\x0b\x64\x65pth_frame\x18\x02 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12.\n\nintrinsics\x18\x03 \x01(\x0b\x32\x1a.cmvr.api.CameraIntrinsics\"\x95\x02\n\x14GetRGBDImagesCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\xc0\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12(\n\x0b\x63olor_frame\x18\x02 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12(\n\x0b\x64\x65pth_frame\x18\x03 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12.\n\nintrinsics\x18\x04 \x01(\x0b\x32\x1a.cmvr.api.CameraIntrinsics\"\xab\x01\n\x1bStartCameraRecordingCommand\x1aN\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x12\n\nvideo_path\x18\x02 \x01(\t\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x96\x01\n\x1aStopCameraRecordingCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8c\x02\n\x18GetRGBImageStreamCommand\x1aG\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0b\n\x03\x65of\x18\x02 \x01(\x08\x1a\xa6\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12(\n\x0b\x63olor_frame\x18\x02 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12.\n\nintrinsics\x18\x03 \x01(\x0b\x32\x1a.cmvr.api.CameraIntrinsics\x12\x0e\n\x06seq_no\x18\x04 \x01(\x05\"\x8e\x02\n\x1aGetDepthImageStreamCommand\x1aG\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0b\n\x03\x65of\x18\x02 \x01(\x08\x1a\xa6\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12(\n\x0b\x64\x65pth_frame\x18\x02 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12.\n\nintrinsics\x18\x03 \x01(\x0b\x32\x1a.cmvr.api.CameraIntrinsics\x12\x0e\n\x06seq_no\x18\x04 \x01(\x05\"\xb8\x02\n\x1aGetRGBDImagesStreamCommand\x1aG\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0b\n\x03\x65of\x18\x02 \x01(\x08\x1a\xd0\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12(\n\x0b\x63olor_frame\x18\x02 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12(\n\x0b\x64\x65pth_frame\x18\x03 \x01(\x0b\x32\x13.cmvr.api.FrameData\x12.\n\nintrinsics\x18\x04 \x01(\x0b\x32\x1a.cmvr.api.CameraIntrinsics\x12\x0e\n\x06seq_no\x18\x05 \x01(\x05\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.camera_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_CAMERAINTRINSICS'].fields_by_name['coeffs']._loaded_options = None
+  _globals['_CAMERAINTRINSICS'].fields_by_name['coeffs']._serialized_options = b'\020\001'
+  _globals['_FRAMEDATA']._serialized_start=67
+  _globals['_FRAMEDATA']._serialized_end=282
+  _globals['_FRAMEDATA_FRAMETYPE']._serialized_start=207
+  _globals['_FRAMEDATA_FRAMETYPE']._serialized_end=282
+  _globals['_CAMERAINTRINSICS']._serialized_start=284
+  _globals['_CAMERAINTRINSICS']._serialized_end=370
+  _globals['_CAMERASTATE']._serialized_start=373
+  _globals['_CAMERASTATE']._serialized_end=558
+  _globals['_GETCAMERASTATECOMMAND']._serialized_start=561
+  _globals['_GETCAMERASTATECOMMAND']._serialized_end=744
+  _globals['_GETCAMERASTATECOMMAND_REQUEST']._serialized_start=586
+  _globals['_GETCAMERASTATECOMMAND_REQUEST']._serialized_end=644
+  _globals['_GETCAMERASTATECOMMAND_FEEDBACK']._serialized_start=646
+  _globals['_GETCAMERASTATECOMMAND_FEEDBACK']._serialized_end=744
+  _globals['_STARTCAMERACOMMAND']._serialized_start=747
+  _globals['_STARTCAMERACOMMAND']._serialized_end=889
+  _globals['_STARTCAMERACOMMAND_REQUEST']._serialized_start=586
+  _globals['_STARTCAMERACOMMAND_REQUEST']._serialized_end=644
+  _globals['_STARTCAMERACOMMAND_FEEDBACK']._serialized_start=646
+  _globals['_STARTCAMERACOMMAND_FEEDBACK']._serialized_end=706
+  _globals['_STOPCAMERACOMMAND']._serialized_start=892
+  _globals['_STOPCAMERACOMMAND']._serialized_end=1033
+  _globals['_STOPCAMERACOMMAND_REQUEST']._serialized_start=586
+  _globals['_STOPCAMERACOMMAND_REQUEST']._serialized_end=644
+  _globals['_STOPCAMERACOMMAND_FEEDBACK']._serialized_start=646
+  _globals['_STOPCAMERACOMMAND_FEEDBACK']._serialized_end=706
+  _globals['_GETRGBIMAGECOMMAND']._serialized_start=1036
+  _globals['_GETRGBIMAGECOMMAND']._serialized_end=1269
+  _globals['_GETRGBIMAGECOMMAND_REQUEST']._serialized_start=586
+  _globals['_GETRGBIMAGECOMMAND_REQUEST']._serialized_end=644
+  _globals['_GETRGBIMAGECOMMAND_FEEDBACK']._serialized_start=1119
+  _globals['_GETRGBIMAGECOMMAND_FEEDBACK']._serialized_end=1269
+  _globals['_GETDEPTHIMAGECOMMAND']._serialized_start=1272
+  _globals['_GETDEPTHIMAGECOMMAND']._serialized_end=1507
+  _globals['_GETDEPTHIMAGECOMMAND_REQUEST']._serialized_start=586
+  _globals['_GETDEPTHIMAGECOMMAND_REQUEST']._serialized_end=644
+  _globals['_GETDEPTHIMAGECOMMAND_FEEDBACK']._serialized_start=1357
+  _globals['_GETDEPTHIMAGECOMMAND_FEEDBACK']._serialized_end=1507
+  _globals['_GETRGBDIMAGESCOMMAND']._serialized_start=1510
+  _globals['_GETRGBDIMAGESCOMMAND']._serialized_end=1787
+  _globals['_GETRGBDIMAGESCOMMAND_REQUEST']._serialized_start=586
+  _globals['_GETRGBDIMAGESCOMMAND_REQUEST']._serialized_end=644
+  _globals['_GETRGBDIMAGESCOMMAND_FEEDBACK']._serialized_start=1595
+  _globals['_GETRGBDIMAGESCOMMAND_FEEDBACK']._serialized_end=1787
+  _globals['_STARTCAMERARECORDINGCOMMAND']._serialized_start=1790
+  _globals['_STARTCAMERARECORDINGCOMMAND']._serialized_end=1961
+  _globals['_STARTCAMERARECORDINGCOMMAND_REQUEST']._serialized_start=1821
+  _globals['_STARTCAMERARECORDINGCOMMAND_REQUEST']._serialized_end=1899
+  _globals['_STARTCAMERARECORDINGCOMMAND_FEEDBACK']._serialized_start=646
+  _globals['_STARTCAMERARECORDINGCOMMAND_FEEDBACK']._serialized_end=706
+  _globals['_STOPCAMERARECORDINGCOMMAND']._serialized_start=1964
+  _globals['_STOPCAMERARECORDINGCOMMAND']._serialized_end=2114
+  _globals['_STOPCAMERARECORDINGCOMMAND_REQUEST']._serialized_start=586
+  _globals['_STOPCAMERARECORDINGCOMMAND_REQUEST']._serialized_end=644
+  _globals['_STOPCAMERARECORDINGCOMMAND_FEEDBACK']._serialized_start=646
+  _globals['_STOPCAMERARECORDINGCOMMAND_FEEDBACK']._serialized_end=706
+  _globals['_GETRGBIMAGESTREAMCOMMAND']._serialized_start=2117
+  _globals['_GETRGBIMAGESTREAMCOMMAND']._serialized_end=2385
+  _globals['_GETRGBIMAGESTREAMCOMMAND_REQUEST']._serialized_start=2145
+  _globals['_GETRGBIMAGESTREAMCOMMAND_REQUEST']._serialized_end=2216
+  _globals['_GETRGBIMAGESTREAMCOMMAND_FEEDBACK']._serialized_start=2219
+  _globals['_GETRGBIMAGESTREAMCOMMAND_FEEDBACK']._serialized_end=2385
+  _globals['_GETDEPTHIMAGESTREAMCOMMAND']._serialized_start=2388
+  _globals['_GETDEPTHIMAGESTREAMCOMMAND']._serialized_end=2658
+  _globals['_GETDEPTHIMAGESTREAMCOMMAND_REQUEST']._serialized_start=2145
+  _globals['_GETDEPTHIMAGESTREAMCOMMAND_REQUEST']._serialized_end=2216
+  _globals['_GETDEPTHIMAGESTREAMCOMMAND_FEEDBACK']._serialized_start=2492
+  _globals['_GETDEPTHIMAGESTREAMCOMMAND_FEEDBACK']._serialized_end=2658
+  _globals['_GETRGBDIMAGESSTREAMCOMMAND']._serialized_start=2661
+  _globals['_GETRGBDIMAGESSTREAMCOMMAND']._serialized_end=2973
+  _globals['_GETRGBDIMAGESSTREAMCOMMAND_REQUEST']._serialized_start=2145
+  _globals['_GETRGBDIMAGESSTREAMCOMMAND_REQUEST']._serialized_end=2216
+  _globals['_GETRGBDIMAGESSTREAMCOMMAND_FEEDBACK']._serialized_start=2765
+  _globals['_GETRGBDIMAGESSTREAMCOMMAND_FEEDBACK']._serialized_end=2973
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/camera_command_pb2.pyi b/src/cmvr/api/camera_command_pb2.pyi
new file mode 100644
index 0000000..2a3bc1f
--- /dev/null
+++ b/src/cmvr/api/camera_command_pb2.pyi
@@ -0,0 +1,273 @@
+from cmvr.api import common_pb2 as _common_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class FrameData(_message.Message):
+    __slots__ = ("data", "width", "height", "type", "codec", "is_key_frame")
+    class FrameType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        U8C1: _ClassVar[FrameData.FrameType]
+        U16C1: _ClassVar[FrameData.FrameType]
+        U8C3: _ClassVar[FrameData.FrameType]
+        U16C3: _ClassVar[FrameData.FrameType]
+        F16C1: _ClassVar[FrameData.FrameType]
+        F32C1: _ClassVar[FrameData.FrameType]
+    U8C1: FrameData.FrameType
+    U16C1: FrameData.FrameType
+    U8C3: FrameData.FrameType
+    U16C3: FrameData.FrameType
+    F16C1: FrameData.FrameType
+    F32C1: FrameData.FrameType
+    DATA_FIELD_NUMBER: _ClassVar[int]
+    WIDTH_FIELD_NUMBER: _ClassVar[int]
+    HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    TYPE_FIELD_NUMBER: _ClassVar[int]
+    CODEC_FIELD_NUMBER: _ClassVar[int]
+    IS_KEY_FRAME_FIELD_NUMBER: _ClassVar[int]
+    data: bytes
+    width: int
+    height: int
+    type: FrameData.FrameType
+    codec: str
+    is_key_frame: bool
+    def __init__(self, data: _Optional[bytes] = ..., width: _Optional[int] = ..., height: _Optional[int] = ..., type: _Optional[_Union[FrameData.FrameType, str]] = ..., codec: _Optional[str] = ..., is_key_frame: _Optional[bool] = ...) -> None: ...
+
+class CameraIntrinsics(_message.Message):
+    __slots__ = ("cx", "cy", "fx", "fy", "coeffs")
+    CX_FIELD_NUMBER: _ClassVar[int]
+    CY_FIELD_NUMBER: _ClassVar[int]
+    FX_FIELD_NUMBER: _ClassVar[int]
+    FY_FIELD_NUMBER: _ClassVar[int]
+    COEFFS_FIELD_NUMBER: _ClassVar[int]
+    cx: float
+    cy: float
+    fx: float
+    fy: float
+    coeffs: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, cx: _Optional[float] = ..., cy: _Optional[float] = ..., fx: _Optional[float] = ..., fy: _Optional[float] = ..., coeffs: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class CameraState(_message.Message):
+    __slots__ = ("is_initialized", "is_opened", "is_streaming", "is_recording", "is_error", "error_message", "fps", "width", "height")
+    IS_INITIALIZED_FIELD_NUMBER: _ClassVar[int]
+    IS_OPENED_FIELD_NUMBER: _ClassVar[int]
+    IS_STREAMING_FIELD_NUMBER: _ClassVar[int]
+    IS_RECORDING_FIELD_NUMBER: _ClassVar[int]
+    IS_ERROR_FIELD_NUMBER: _ClassVar[int]
+    ERROR_MESSAGE_FIELD_NUMBER: _ClassVar[int]
+    FPS_FIELD_NUMBER: _ClassVar[int]
+    WIDTH_FIELD_NUMBER: _ClassVar[int]
+    HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    is_initialized: bool
+    is_opened: bool
+    is_streaming: bool
+    is_recording: bool
+    is_error: bool
+    error_message: str
+    fps: int
+    width: int
+    height: int
+    def __init__(self, is_initialized: _Optional[bool] = ..., is_opened: _Optional[bool] = ..., is_streaming: _Optional[bool] = ..., is_recording: _Optional[bool] = ..., is_error: _Optional[bool] = ..., error_message: _Optional[str] = ..., fps: _Optional[int] = ..., width: _Optional[int] = ..., height: _Optional[int] = ...) -> None: ...
+
+class GetCameraStateCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "state")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        STATE_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        state: CameraState
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., state: _Optional[_Union[CameraState, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class StartCameraCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class StopCameraCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetRGBImageCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "color_frame", "intrinsics")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        COLOR_FRAME_FIELD_NUMBER: _ClassVar[int]
+        INTRINSICS_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        color_frame: FrameData
+        intrinsics: CameraIntrinsics
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., color_frame: _Optional[_Union[FrameData, _Mapping]] = ..., intrinsics: _Optional[_Union[CameraIntrinsics, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetDepthImageCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "depth_frame", "intrinsics")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        DEPTH_FRAME_FIELD_NUMBER: _ClassVar[int]
+        INTRINSICS_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        depth_frame: FrameData
+        intrinsics: CameraIntrinsics
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., depth_frame: _Optional[_Union[FrameData, _Mapping]] = ..., intrinsics: _Optional[_Union[CameraIntrinsics, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetRGBDImagesCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "color_frame", "depth_frame", "intrinsics")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        COLOR_FRAME_FIELD_NUMBER: _ClassVar[int]
+        DEPTH_FRAME_FIELD_NUMBER: _ClassVar[int]
+        INTRINSICS_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        color_frame: FrameData
+        depth_frame: FrameData
+        intrinsics: CameraIntrinsics
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., color_frame: _Optional[_Union[FrameData, _Mapping]] = ..., depth_frame: _Optional[_Union[FrameData, _Mapping]] = ..., intrinsics: _Optional[_Union[CameraIntrinsics, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class StartCameraRecordingCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "video_path")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        VIDEO_PATH_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        video_path: str
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., video_path: _Optional[str] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class StopCameraRecordingCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetRGBImageStreamCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "eof")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        EOF_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        eof: bool
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., eof: _Optional[bool] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "color_frame", "intrinsics", "seq_no")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        COLOR_FRAME_FIELD_NUMBER: _ClassVar[int]
+        INTRINSICS_FIELD_NUMBER: _ClassVar[int]
+        SEQ_NO_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        color_frame: FrameData
+        intrinsics: CameraIntrinsics
+        seq_no: int
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., color_frame: _Optional[_Union[FrameData, _Mapping]] = ..., intrinsics: _Optional[_Union[CameraIntrinsics, _Mapping]] = ..., seq_no: _Optional[int] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetDepthImageStreamCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "eof")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        EOF_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        eof: bool
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., eof: _Optional[bool] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "depth_frame", "intrinsics", "seq_no")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        DEPTH_FRAME_FIELD_NUMBER: _ClassVar[int]
+        INTRINSICS_FIELD_NUMBER: _ClassVar[int]
+        SEQ_NO_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        depth_frame: FrameData
+        intrinsics: CameraIntrinsics
+        seq_no: int
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., depth_frame: _Optional[_Union[FrameData, _Mapping]] = ..., intrinsics: _Optional[_Union[CameraIntrinsics, _Mapping]] = ..., seq_no: _Optional[int] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetRGBDImagesStreamCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "eof")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        EOF_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        eof: bool
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., eof: _Optional[bool] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "color_frame", "depth_frame", "intrinsics", "seq_no")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        COLOR_FRAME_FIELD_NUMBER: _ClassVar[int]
+        DEPTH_FRAME_FIELD_NUMBER: _ClassVar[int]
+        INTRINSICS_FIELD_NUMBER: _ClassVar[int]
+        SEQ_NO_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        color_frame: FrameData
+        depth_frame: FrameData
+        intrinsics: CameraIntrinsics
+        seq_no: int
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., color_frame: _Optional[_Union[FrameData, _Mapping]] = ..., depth_frame: _Optional[_Union[FrameData, _Mapping]] = ..., intrinsics: _Optional[_Union[CameraIntrinsics, _Mapping]] = ..., seq_no: _Optional[int] = ...) -> None: ...
+    def __init__(self) -> None: ...
diff --git a/src/cmvr/api/camera_command_pb2_grpc.py b/src/cmvr/api/camera_command_pb2_grpc.py
new file mode 100644
index 0000000..3be0c2d
--- /dev/null
+++ b/src/cmvr/api/camera_command_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/camera_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/api/camera_service_pb2.py b/src/cmvr/api/camera_service_pb2.py
new file mode 100644
index 0000000..39b45c2
--- /dev/null
+++ b/src/cmvr/api/camera_service_pb2.py
@@ -0,0 +1,37 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/camera_service.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/camera_service.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import camera_command_pb2 as cmvr_dot_api_dot_camera__command__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1d\x63mvr/api/camera_service.proto\x12\x08\x63mvr.api\x1a\x1d\x63mvr/api/camera_command.proto2\x9b\t\n\rCameraService\x12`\n\tGetStatus\x12\'.cmvr.api.GetCameraStateCommand.Request\x1a(.cmvr.api.GetCameraStateCommand.Feedback\"\x00\x12\\\n\x0bStartCamera\x12$.cmvr.api.StartCameraCommand.Request\x1a%.cmvr.api.StartCameraCommand.Feedback\"\x00\x12Y\n\nStopCamera\x12#.cmvr.api.StopCameraCommand.Request\x1a$.cmvr.api.StopCameraCommand.Feedback\"\x00\x12\\\n\x0bGetRGBImage\x12$.cmvr.api.GetRGBImageCommand.Request\x1a%.cmvr.api.GetRGBImageCommand.Feedback\"\x00\x12\x62\n\rGetDepthImage\x12&.cmvr.api.GetDepthImageCommand.Request\x1a\'.cmvr.api.GetDepthImageCommand.Feedback\"\x00\x12\x62\n\rGetRGBDImages\x12&.cmvr.api.GetRGBDImagesCommand.Request\x1a\'.cmvr.api.GetRGBDImagesCommand.Feedback\"\x00\x12q\n\x0eStartRecording\x12-.cmvr.api.StartCameraRecordingCommand.Request\x1a..cmvr.api.StartCameraRecordingCommand.Feedback\"\x00\x12n\n\rStopRecording\x12,.cmvr.api.StopCameraRecordingCommand.Request\x1a-.cmvr.api.StopCameraRecordingCommand.Feedback\"\x00\x12r\n\x11GetRGBImageStream\x12*.cmvr.api.GetRGBImageStreamCommand.Request\x1a+.cmvr.api.GetRGBImageStreamCommand.Feedback\"\x00(\x01\x30\x01\x12x\n\x13GetDepthImageStream\x12,.cmvr.api.GetDepthImageStreamCommand.Request\x1a-.cmvr.api.GetDepthImageStreamCommand.Feedback\"\x00(\x01\x30\x01\x12x\n\x13GetRGBDImagesStream\x12,.cmvr.api.GetRGBDImagesStreamCommand.Request\x1a-.cmvr.api.GetRGBDImagesStreamCommand.Feedback\"\x00(\x01\x30\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.camera_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_CAMERASERVICE']._serialized_start=75
+  _globals['_CAMERASERVICE']._serialized_end=1254
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/camera_service_pb2.pyi b/src/cmvr/api/camera_service_pb2.pyi
new file mode 100644
index 0000000..5496655
--- /dev/null
+++ b/src/cmvr/api/camera_service_pb2.pyi
@@ -0,0 +1,5 @@
+from cmvr.api import camera_command_pb2 as _camera_command_pb2
+from google.protobuf import descriptor as _descriptor
+from typing import ClassVar as _ClassVar
+
+DESCRIPTOR: _descriptor.FileDescriptor
diff --git a/src/cmvr/api/camera_service_pb2_grpc.py b/src/cmvr/api/camera_service_pb2_grpc.py
new file mode 100644
index 0000000..cb89e35
--- /dev/null
+++ b/src/cmvr/api/camera_service_pb2_grpc.py
@@ -0,0 +1,527 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+from cmvr.api import camera_command_pb2 as cmvr_dot_api_dot_camera__command__pb2
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/camera_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class CameraServiceStub:
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.GetStatus = channel.unary_unary(
+                '/cmvr.api.CameraService/GetStatus',
+                request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetCameraStateCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetCameraStateCommand.Feedback.FromString,
+                _registered_method=True)
+        self.StartCamera = channel.unary_unary(
+                '/cmvr.api.CameraService/StartCamera',
+                request_serializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraCommand.Feedback.FromString,
+                _registered_method=True)
+        self.StopCamera = channel.unary_unary(
+                '/cmvr.api.CameraService/StopCamera',
+                request_serializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraCommand.Feedback.FromString,
+                _registered_method=True)
+        self.GetRGBImage = channel.unary_unary(
+                '/cmvr.api.CameraService/GetRGBImage',
+                request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageCommand.Feedback.FromString,
+                _registered_method=True)
+        self.GetDepthImage = channel.unary_unary(
+                '/cmvr.api.CameraService/GetDepthImage',
+                request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageCommand.Feedback.FromString,
+                _registered_method=True)
+        self.GetRGBDImages = channel.unary_unary(
+                '/cmvr.api.CameraService/GetRGBDImages',
+                request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesCommand.Feedback.FromString,
+                _registered_method=True)
+        self.StartRecording = channel.unary_unary(
+                '/cmvr.api.CameraService/StartRecording',
+                request_serializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraRecordingCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraRecordingCommand.Feedback.FromString,
+                _registered_method=True)
+        self.StopRecording = channel.unary_unary(
+                '/cmvr.api.CameraService/StopRecording',
+                request_serializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraRecordingCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraRecordingCommand.Feedback.FromString,
+                _registered_method=True)
+        self.GetRGBImageStream = channel.stream_stream(
+                '/cmvr.api.CameraService/GetRGBImageStream',
+                request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageStreamCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageStreamCommand.Feedback.FromString,
+                _registered_method=True)
+        self.GetDepthImageStream = channel.stream_stream(
+                '/cmvr.api.CameraService/GetDepthImageStream',
+                request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageStreamCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageStreamCommand.Feedback.FromString,
+                _registered_method=True)
+        self.GetRGBDImagesStream = channel.stream_stream(
+                '/cmvr.api.CameraService/GetRGBDImagesStream',
+                request_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesStreamCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesStreamCommand.Feedback.FromString,
+                _registered_method=True)
+
+
+class CameraServiceServicer:
+    """Missing associated documentation comment in .proto file."""
+
+    def GetStatus(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StartCamera(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StopCamera(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetRGBImage(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetDepthImage(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetRGBDImages(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StartRecording(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StopRecording(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetRGBImageStream(self, request_iterator, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetDepthImageStream(self, request_iterator, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetRGBDImagesStream(self, request_iterator, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_CameraServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'GetStatus': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetStatus,
+                    request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetCameraStateCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetCameraStateCommand.Feedback.SerializeToString,
+            ),
+            'StartCamera': grpc.unary_unary_rpc_method_handler(
+                    servicer.StartCamera,
+                    request_deserializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraCommand.Feedback.SerializeToString,
+            ),
+            'StopCamera': grpc.unary_unary_rpc_method_handler(
+                    servicer.StopCamera,
+                    request_deserializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraCommand.Feedback.SerializeToString,
+            ),
+            'GetRGBImage': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetRGBImage,
+                    request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageCommand.Feedback.SerializeToString,
+            ),
+            'GetDepthImage': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetDepthImage,
+                    request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageCommand.Feedback.SerializeToString,
+            ),
+            'GetRGBDImages': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetRGBDImages,
+                    request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesCommand.Feedback.SerializeToString,
+            ),
+            'StartRecording': grpc.unary_unary_rpc_method_handler(
+                    servicer.StartRecording,
+                    request_deserializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraRecordingCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_camera__command__pb2.StartCameraRecordingCommand.Feedback.SerializeToString,
+            ),
+            'StopRecording': grpc.unary_unary_rpc_method_handler(
+                    servicer.StopRecording,
+                    request_deserializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraRecordingCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_camera__command__pb2.StopCameraRecordingCommand.Feedback.SerializeToString,
+            ),
+            'GetRGBImageStream': grpc.stream_stream_rpc_method_handler(
+                    servicer.GetRGBImageStream,
+                    request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageStreamCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBImageStreamCommand.Feedback.SerializeToString,
+            ),
+            'GetDepthImageStream': grpc.stream_stream_rpc_method_handler(
+                    servicer.GetDepthImageStream,
+                    request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageStreamCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetDepthImageStreamCommand.Feedback.SerializeToString,
+            ),
+            'GetRGBDImagesStream': grpc.stream_stream_rpc_method_handler(
+                    servicer.GetRGBDImagesStream,
+                    request_deserializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesStreamCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesStreamCommand.Feedback.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'cmvr.api.CameraService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.CameraService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class CameraService:
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def GetStatus(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.CameraService/GetStatus',
+            cmvr_dot_api_dot_camera__command__pb2.GetCameraStateCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_camera__command__pb2.GetCameraStateCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def StartCamera(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.CameraService/StartCamera',
+            cmvr_dot_api_dot_camera__command__pb2.StartCameraCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_camera__command__pb2.StartCameraCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def StopCamera(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.CameraService/StopCamera',
+            cmvr_dot_api_dot_camera__command__pb2.StopCameraCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_camera__command__pb2.StopCameraCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetRGBImage(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.CameraService/GetRGBImage',
+            cmvr_dot_api_dot_camera__command__pb2.GetRGBImageCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_camera__command__pb2.GetRGBImageCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetDepthImage(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.CameraService/GetDepthImage',
+            cmvr_dot_api_dot_camera__command__pb2.GetDepthImageCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_camera__command__pb2.GetDepthImageCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetRGBDImages(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.CameraService/GetRGBDImages',
+            cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def StartRecording(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.CameraService/StartRecording',
+            cmvr_dot_api_dot_camera__command__pb2.StartCameraRecordingCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_camera__command__pb2.StartCameraRecordingCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def StopRecording(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.CameraService/StopRecording',
+            cmvr_dot_api_dot_camera__command__pb2.StopCameraRecordingCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_camera__command__pb2.StopCameraRecordingCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetRGBImageStream(request_iterator,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.stream_stream(
+            request_iterator,
+            target,
+            '/cmvr.api.CameraService/GetRGBImageStream',
+            cmvr_dot_api_dot_camera__command__pb2.GetRGBImageStreamCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_camera__command__pb2.GetRGBImageStreamCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetDepthImageStream(request_iterator,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.stream_stream(
+            request_iterator,
+            target,
+            '/cmvr.api.CameraService/GetDepthImageStream',
+            cmvr_dot_api_dot_camera__command__pb2.GetDepthImageStreamCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_camera__command__pb2.GetDepthImageStreamCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetRGBDImagesStream(request_iterator,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.stream_stream(
+            request_iterator,
+            target,
+            '/cmvr.api.CameraService/GetRGBDImagesStream',
+            cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesStreamCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_camera__command__pb2.GetRGBDImagesStreamCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
diff --git a/src/cmvr/api/common_pb2.py b/src/cmvr/api/common_pb2.py
new file mode 100644
index 0000000..261a618
--- /dev/null
+++ b/src/cmvr/api/common_pb2.py
@@ -0,0 +1,47 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/common.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/common.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from google.protobuf import timestamp_pb2 as google_dot_protobuf_dot_timestamp__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x15\x63mvr/api/common.proto\x12\x08\x63mvr.api\x1a\x1fgoogle/protobuf/timestamp.proto\"\xb8\x01\n\x0f\x44\x65viceLifecycle\x12\x32\n\x05state\x18\x01 \x01(\x0e\x32#.cmvr.api.DeviceLifecycle.Lifecycle\"q\n\tLifecycle\x12\x0e\n\nSTATE_INIT\x10\x00\x12\x0f\n\x0bSTATE_READY\x10\x01\x12\x11\n\rSTATE_RUNNING\x10\x02\x12\x0f\n\x0bSTATE_ERROR\x10\x03\x12\x0f\n\x0bSTATE_ESTOP\x10\x04\x12\x0e\n\nSTATE_STOP\x10\x05\"\xbf\x01\n\rCommandHeader\x1aK\n\x07Request\x12\x11\n\tdevice_id\x18\x01 \x01(\t\x12-\n\ttimestamp\x18\x02 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\x1a\x61\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x0f\n\x07success\x18\x01 \x01(\x08\x12\x15\n\rerror_message\x18\x02 \x01(\t\x12-\n\ttimestamp\x18\x03 \x01(\x0b\x32\x1a.google.protobuf.Timestamp\"\xa2\x01\n\x0b\x43onfigParam\x12\x12\n\nparam_name\x18\x01 \x01(\t\x12\x13\n\tint_value\x18\x02 \x01(\x05H\x00\x12\x16\n\x0c\x64ouble_value\x18\x03 \x01(\x01H\x00\x12\x16\n\x0cstring_value\x18\x04 \x01(\tH\x00\x12\x14\n\nbool_value\x18\x05 \x01(\x08H\x00\x12\x15\n\x0b\x62ytes_value\x18\x06 \x01(\x0cH\x00\x42\r\n\x0bparam_valueb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.common_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_DEVICELIFECYCLE']._serialized_start=69
+  _globals['_DEVICELIFECYCLE']._serialized_end=253
+  _globals['_DEVICELIFECYCLE_LIFECYCLE']._serialized_start=140
+  _globals['_DEVICELIFECYCLE_LIFECYCLE']._serialized_end=253
+  _globals['_COMMANDHEADER']._serialized_start=256
+  _globals['_COMMANDHEADER']._serialized_end=447
+  _globals['_COMMANDHEADER_REQUEST']._serialized_start=273
+  _globals['_COMMANDHEADER_REQUEST']._serialized_end=348
+  _globals['_COMMANDHEADER_FEEDBACK']._serialized_start=350
+  _globals['_COMMANDHEADER_FEEDBACK']._serialized_end=447
+  _globals['_CONFIGPARAM']._serialized_start=450
+  _globals['_CONFIGPARAM']._serialized_end=612
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/common_pb2.pyi b/src/cmvr/api/common_pb2.pyi
new file mode 100644
index 0000000..183eec5
--- /dev/null
+++ b/src/cmvr/api/common_pb2.pyi
@@ -0,0 +1,66 @@
+import datetime
+
+from google.protobuf import timestamp_pb2 as _timestamp_pb2
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class DeviceLifecycle(_message.Message):
+    __slots__ = ("state",)
+    class Lifecycle(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        STATE_INIT: _ClassVar[DeviceLifecycle.Lifecycle]
+        STATE_READY: _ClassVar[DeviceLifecycle.Lifecycle]
+        STATE_RUNNING: _ClassVar[DeviceLifecycle.Lifecycle]
+        STATE_ERROR: _ClassVar[DeviceLifecycle.Lifecycle]
+        STATE_ESTOP: _ClassVar[DeviceLifecycle.Lifecycle]
+        STATE_STOP: _ClassVar[DeviceLifecycle.Lifecycle]
+    STATE_INIT: DeviceLifecycle.Lifecycle
+    STATE_READY: DeviceLifecycle.Lifecycle
+    STATE_RUNNING: DeviceLifecycle.Lifecycle
+    STATE_ERROR: DeviceLifecycle.Lifecycle
+    STATE_ESTOP: DeviceLifecycle.Lifecycle
+    STATE_STOP: DeviceLifecycle.Lifecycle
+    STATE_FIELD_NUMBER: _ClassVar[int]
+    state: DeviceLifecycle.Lifecycle
+    def __init__(self, state: _Optional[_Union[DeviceLifecycle.Lifecycle, str]] = ...) -> None: ...
+
+class CommandHeader(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("device_id", "timestamp")
+        DEVICE_ID_FIELD_NUMBER: _ClassVar[int]
+        TIMESTAMP_FIELD_NUMBER: _ClassVar[int]
+        device_id: str
+        timestamp: _timestamp_pb2.Timestamp
+        def __init__(self, device_id: _Optional[str] = ..., timestamp: _Optional[_Union[datetime.datetime, _timestamp_pb2.Timestamp, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("success", "error_message", "timestamp")
+        SUCCESS_FIELD_NUMBER: _ClassVar[int]
+        ERROR_MESSAGE_FIELD_NUMBER: _ClassVar[int]
+        TIMESTAMP_FIELD_NUMBER: _ClassVar[int]
+        success: bool
+        error_message: str
+        timestamp: _timestamp_pb2.Timestamp
+        def __init__(self, success: _Optional[bool] = ..., error_message: _Optional[str] = ..., timestamp: _Optional[_Union[datetime.datetime, _timestamp_pb2.Timestamp, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class ConfigParam(_message.Message):
+    __slots__ = ("param_name", "int_value", "double_value", "string_value", "bool_value", "bytes_value")
+    PARAM_NAME_FIELD_NUMBER: _ClassVar[int]
+    INT_VALUE_FIELD_NUMBER: _ClassVar[int]
+    DOUBLE_VALUE_FIELD_NUMBER: _ClassVar[int]
+    STRING_VALUE_FIELD_NUMBER: _ClassVar[int]
+    BOOL_VALUE_FIELD_NUMBER: _ClassVar[int]
+    BYTES_VALUE_FIELD_NUMBER: _ClassVar[int]
+    param_name: str
+    int_value: int
+    double_value: float
+    string_value: str
+    bool_value: bool
+    bytes_value: bytes
+    def __init__(self, param_name: _Optional[str] = ..., int_value: _Optional[int] = ..., double_value: _Optional[float] = ..., string_value: _Optional[str] = ..., bool_value: _Optional[bool] = ..., bytes_value: _Optional[bytes] = ...) -> None: ...
diff --git a/src/cmvr/api/common_pb2_grpc.py b/src/cmvr/api/common_pb2_grpc.py
new file mode 100644
index 0000000..8c1ed82
--- /dev/null
+++ b/src/cmvr/api/common_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/common_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/api/dexhand_command_pb2.py b/src/cmvr/api/dexhand_command_pb2.py
new file mode 100644
index 0000000..67c3e88
--- /dev/null
+++ b/src/cmvr/api/dexhand_command_pb2.py
@@ -0,0 +1,99 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/dexhand_command.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/dexhand_command.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x63mvr/api/dexhand_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\")\n\x0c\x46reedomValue\x12\n\n\x02id\x18\x01 \x01(\x05\x12\r\n\x05value\x18\x02 \x01(\x02\"\xa9\x01\n\x0c\x46reedomState\x12\x0e\n\x06\x64of_id\x18\x01 \x01(\x05\x12\r\n\x05\x61ngle\x18\x02 \x01(\x05\x12\r\n\x05speed\x18\x03 \x01(\x05\x12\r\n\x05\x66orce\x18\x04 \x01(\x05\x12\x10\n\x08position\x18\x05 \x01(\x05\x12\x0f\n\x07\x63urrent\x18\x06 \x01(\x05\x12\x13\n\x0btemperature\x18\x07 \x01(\x05\x12\r\n\x05\x65rror\x18\x08 \x01(\x05\x12\x15\n\rerror_message\x18\t \x03(\t\"\x90\x03\n\nSensorData\x12\x34\n\x0b\x66inger_type\x18\x04 \x01(\x0e\x32\x1f.cmvr.api.SensorData.FingerType\x12\x30\n\tpart_type\x18\x05 \x01(\x0e\x32\x1d.cmvr.api.SensorData.PartType\x12\x13\n\x0bsensor_name\x18\x06 \x01(\t\x12*\n\x04\x64\x61ta\x18\x01 \x03(\x0b\x32\x1c.cmvr.api.SensorData.RowData\x12\x0c\n\x04rows\x18\x02 \x01(\x05\x12\x0c\n\x04\x63ols\x18\x03 \x01(\x05\x1a\x1d\n\x07RowData\x12\x12\n\x06values\x18\x01 \x03(\x05\x42\x02\x10\x01\"T\n\nFingerType\x12\t\n\x05PINKY\x10\x00\x12\x08\n\x04RING\x10\x01\x12\x11\n\rMIDDLE_FINGER\x10\x02\x12\t\n\x05INDEX\x10\x03\x12\t\n\x05THUMB\x10\x04\x12\x08\n\x04PALM\x10\x05\"H\n\x08PartType\x12\x07\n\x03TIP\x10\x00\x12\n\n\x06\x46INGER\x10\x01\x12\x07\n\x03PAD\x10\x02\x12\x10\n\x0cTHUMB_MIDDLE\x10\x03\x12\x0c\n\x08PALM_PAD\x10\x04\"M\n\x0c\x44\x65xHandState\x12\x16\n\x0eis_initialized\x18\x01 \x01(\x08\x12%\n\x05hands\x18\x02 \x03(\x0b\x32\x16.cmvr.api.FreedomState\"\xb9\x01\n\x16GetDexHandStateCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x63\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12%\n\x05state\x18\x02 \x01(\x0b\x32\x16.cmvr.api.DexHandState\"\xbe\x01\n\x1aSetDexHandPositionsCommand\x1a\x62\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12&\n\x06values\x18\x02 \x03(\x0b\x32\x16.cmvr.api.FreedomValue\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xbb\x01\n\x17SetDexHandAnglesCommand\x1a\x62\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12&\n\x06values\x18\x02 \x03(\x0b\x32\x16.cmvr.api.FreedomValue\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xba\x01\n\x16SetDexHandForceCommand\x1a\x62\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12&\n\x06values\x18\x02 \x03(\x0b\x32\x16.cmvr.api.FreedomValue\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xba\x01\n\x16SetDexHandSpeedCommand\x1a\x62\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12&\n\x06values\x18\x02 \x03(\x0b\x32\x16.cmvr.api.FreedomValue\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xab\x01\n\x1aSetDexHandPresetActCommand\x1aO\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x13\n\x0bpresetActId\x18\x02 \x01(\x05\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xb6\x01\n\x14GetSensorDataCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x62\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12$\n\x06sensor\x18\x02 \x03(\x0b\x32\x14.cmvr.api.SensorData\"\xbc\x01\n\x1aGetSensorDataStreamCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x62\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12$\n\x06sensor\x18\x02 \x03(\x0b\x32\x14.cmvr.api.SensorDatab\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.dexhand_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_SENSORDATA_ROWDATA'].fields_by_name['values']._loaded_options = None
+  _globals['_SENSORDATA_ROWDATA'].fields_by_name['values']._serialized_options = b'\020\001'
+  _globals['_FREEDOMVALUE']._serialized_start=67
+  _globals['_FREEDOMVALUE']._serialized_end=108
+  _globals['_FREEDOMSTATE']._serialized_start=111
+  _globals['_FREEDOMSTATE']._serialized_end=280
+  _globals['_SENSORDATA']._serialized_start=283
+  _globals['_SENSORDATA']._serialized_end=683
+  _globals['_SENSORDATA_ROWDATA']._serialized_start=494
+  _globals['_SENSORDATA_ROWDATA']._serialized_end=523
+  _globals['_SENSORDATA_FINGERTYPE']._serialized_start=525
+  _globals['_SENSORDATA_FINGERTYPE']._serialized_end=609
+  _globals['_SENSORDATA_PARTTYPE']._serialized_start=611
+  _globals['_SENSORDATA_PARTTYPE']._serialized_end=683
+  _globals['_DEXHANDSTATE']._serialized_start=685
+  _globals['_DEXHANDSTATE']._serialized_end=762
+  _globals['_GETDEXHANDSTATECOMMAND']._serialized_start=765
+  _globals['_GETDEXHANDSTATECOMMAND']._serialized_end=950
+  _globals['_GETDEXHANDSTATECOMMAND_REQUEST']._serialized_start=791
+  _globals['_GETDEXHANDSTATECOMMAND_REQUEST']._serialized_end=849
+  _globals['_GETDEXHANDSTATECOMMAND_FEEDBACK']._serialized_start=851
+  _globals['_GETDEXHANDSTATECOMMAND_FEEDBACK']._serialized_end=950
+  _globals['_SETDEXHANDPOSITIONSCOMMAND']._serialized_start=953
+  _globals['_SETDEXHANDPOSITIONSCOMMAND']._serialized_end=1143
+  _globals['_SETDEXHANDPOSITIONSCOMMAND_REQUEST']._serialized_start=983
+  _globals['_SETDEXHANDPOSITIONSCOMMAND_REQUEST']._serialized_end=1081
+  _globals['_SETDEXHANDPOSITIONSCOMMAND_FEEDBACK']._serialized_start=851
+  _globals['_SETDEXHANDPOSITIONSCOMMAND_FEEDBACK']._serialized_end=911
+  _globals['_SETDEXHANDANGLESCOMMAND']._serialized_start=1146
+  _globals['_SETDEXHANDANGLESCOMMAND']._serialized_end=1333
+  _globals['_SETDEXHANDANGLESCOMMAND_REQUEST']._serialized_start=983
+  _globals['_SETDEXHANDANGLESCOMMAND_REQUEST']._serialized_end=1081
+  _globals['_SETDEXHANDANGLESCOMMAND_FEEDBACK']._serialized_start=851
+  _globals['_SETDEXHANDANGLESCOMMAND_FEEDBACK']._serialized_end=911
+  _globals['_SETDEXHANDFORCECOMMAND']._serialized_start=1336
+  _globals['_SETDEXHANDFORCECOMMAND']._serialized_end=1522
+  _globals['_SETDEXHANDFORCECOMMAND_REQUEST']._serialized_start=983
+  _globals['_SETDEXHANDFORCECOMMAND_REQUEST']._serialized_end=1081
+  _globals['_SETDEXHANDFORCECOMMAND_FEEDBACK']._serialized_start=851
+  _globals['_SETDEXHANDFORCECOMMAND_FEEDBACK']._serialized_end=911
+  _globals['_SETDEXHANDSPEEDCOMMAND']._serialized_start=1525
+  _globals['_SETDEXHANDSPEEDCOMMAND']._serialized_end=1711
+  _globals['_SETDEXHANDSPEEDCOMMAND_REQUEST']._serialized_start=983
+  _globals['_SETDEXHANDSPEEDCOMMAND_REQUEST']._serialized_end=1081
+  _globals['_SETDEXHANDSPEEDCOMMAND_FEEDBACK']._serialized_start=851
+  _globals['_SETDEXHANDSPEEDCOMMAND_FEEDBACK']._serialized_end=911
+  _globals['_SETDEXHANDPRESETACTCOMMAND']._serialized_start=1714
+  _globals['_SETDEXHANDPRESETACTCOMMAND']._serialized_end=1885
+  _globals['_SETDEXHANDPRESETACTCOMMAND_REQUEST']._serialized_start=1744
+  _globals['_SETDEXHANDPRESETACTCOMMAND_REQUEST']._serialized_end=1823
+  _globals['_SETDEXHANDPRESETACTCOMMAND_FEEDBACK']._serialized_start=851
+  _globals['_SETDEXHANDPRESETACTCOMMAND_FEEDBACK']._serialized_end=911
+  _globals['_GETSENSORDATACOMMAND']._serialized_start=1888
+  _globals['_GETSENSORDATACOMMAND']._serialized_end=2070
+  _globals['_GETSENSORDATACOMMAND_REQUEST']._serialized_start=791
+  _globals['_GETSENSORDATACOMMAND_REQUEST']._serialized_end=849
+  _globals['_GETSENSORDATACOMMAND_FEEDBACK']._serialized_start=1972
+  _globals['_GETSENSORDATACOMMAND_FEEDBACK']._serialized_end=2070
+  _globals['_GETSENSORDATASTREAMCOMMAND']._serialized_start=2073
+  _globals['_GETSENSORDATASTREAMCOMMAND']._serialized_end=2261
+  _globals['_GETSENSORDATASTREAMCOMMAND_REQUEST']._serialized_start=791
+  _globals['_GETSENSORDATASTREAMCOMMAND_REQUEST']._serialized_end=849
+  _globals['_GETSENSORDATASTREAMCOMMAND_FEEDBACK']._serialized_start=1972
+  _globals['_GETSENSORDATASTREAMCOMMAND_FEEDBACK']._serialized_end=2070
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/dexhand_command_pb2.pyi b/src/cmvr/api/dexhand_command_pb2.pyi
new file mode 100644
index 0000000..3490141
--- /dev/null
+++ b/src/cmvr/api/dexhand_command_pb2.pyi
@@ -0,0 +1,222 @@
+from cmvr.api import common_pb2 as _common_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class FreedomValue(_message.Message):
+    __slots__ = ("id", "value")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    VALUE_FIELD_NUMBER: _ClassVar[int]
+    id: int
+    value: float
+    def __init__(self, id: _Optional[int] = ..., value: _Optional[float] = ...) -> None: ...
+
+class FreedomState(_message.Message):
+    __slots__ = ("dof_id", "angle", "speed", "force", "position", "current", "temperature", "error", "error_message")
+    DOF_ID_FIELD_NUMBER: _ClassVar[int]
+    ANGLE_FIELD_NUMBER: _ClassVar[int]
+    SPEED_FIELD_NUMBER: _ClassVar[int]
+    FORCE_FIELD_NUMBER: _ClassVar[int]
+    POSITION_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_FIELD_NUMBER: _ClassVar[int]
+    TEMPERATURE_FIELD_NUMBER: _ClassVar[int]
+    ERROR_FIELD_NUMBER: _ClassVar[int]
+    ERROR_MESSAGE_FIELD_NUMBER: _ClassVar[int]
+    dof_id: int
+    angle: int
+    speed: int
+    force: int
+    position: int
+    current: int
+    temperature: int
+    error: int
+    error_message: _containers.RepeatedScalarFieldContainer[str]
+    def __init__(self, dof_id: _Optional[int] = ..., angle: _Optional[int] = ..., speed: _Optional[int] = ..., force: _Optional[int] = ..., position: _Optional[int] = ..., current: _Optional[int] = ..., temperature: _Optional[int] = ..., error: _Optional[int] = ..., error_message: _Optional[_Iterable[str]] = ...) -> None: ...
+
+class SensorData(_message.Message):
+    __slots__ = ("finger_type", "part_type", "sensor_name", "data", "rows", "cols")
+    class FingerType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        PINKY: _ClassVar[SensorData.FingerType]
+        RING: _ClassVar[SensorData.FingerType]
+        MIDDLE_FINGER: _ClassVar[SensorData.FingerType]
+        INDEX: _ClassVar[SensorData.FingerType]
+        THUMB: _ClassVar[SensorData.FingerType]
+        PALM: _ClassVar[SensorData.FingerType]
+    PINKY: SensorData.FingerType
+    RING: SensorData.FingerType
+    MIDDLE_FINGER: SensorData.FingerType
+    INDEX: SensorData.FingerType
+    THUMB: SensorData.FingerType
+    PALM: SensorData.FingerType
+    class PartType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        TIP: _ClassVar[SensorData.PartType]
+        FINGER: _ClassVar[SensorData.PartType]
+        PAD: _ClassVar[SensorData.PartType]
+        THUMB_MIDDLE: _ClassVar[SensorData.PartType]
+        PALM_PAD: _ClassVar[SensorData.PartType]
+    TIP: SensorData.PartType
+    FINGER: SensorData.PartType
+    PAD: SensorData.PartType
+    THUMB_MIDDLE: SensorData.PartType
+    PALM_PAD: SensorData.PartType
+    class RowData(_message.Message):
+        __slots__ = ("values",)
+        VALUES_FIELD_NUMBER: _ClassVar[int]
+        values: _containers.RepeatedScalarFieldContainer[int]
+        def __init__(self, values: _Optional[_Iterable[int]] = ...) -> None: ...
+    FINGER_TYPE_FIELD_NUMBER: _ClassVar[int]
+    PART_TYPE_FIELD_NUMBER: _ClassVar[int]
+    SENSOR_NAME_FIELD_NUMBER: _ClassVar[int]
+    DATA_FIELD_NUMBER: _ClassVar[int]
+    ROWS_FIELD_NUMBER: _ClassVar[int]
+    COLS_FIELD_NUMBER: _ClassVar[int]
+    finger_type: SensorData.FingerType
+    part_type: SensorData.PartType
+    sensor_name: str
+    data: _containers.RepeatedCompositeFieldContainer[SensorData.RowData]
+    rows: int
+    cols: int
+    def __init__(self, finger_type: _Optional[_Union[SensorData.FingerType, str]] = ..., part_type: _Optional[_Union[SensorData.PartType, str]] = ..., sensor_name: _Optional[str] = ..., data: _Optional[_Iterable[_Union[SensorData.RowData, _Mapping]]] = ..., rows: _Optional[int] = ..., cols: _Optional[int] = ...) -> None: ...
+
+class DexHandState(_message.Message):
+    __slots__ = ("is_initialized", "hands")
+    IS_INITIALIZED_FIELD_NUMBER: _ClassVar[int]
+    HANDS_FIELD_NUMBER: _ClassVar[int]
+    is_initialized: bool
+    hands: _containers.RepeatedCompositeFieldContainer[FreedomState]
+    def __init__(self, is_initialized: _Optional[bool] = ..., hands: _Optional[_Iterable[_Union[FreedomState, _Mapping]]] = ...) -> None: ...
+
+class GetDexHandStateCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "state")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        STATE_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        state: DexHandState
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., state: _Optional[_Union[DexHandState, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class SetDexHandPositionsCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "values")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        VALUES_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        values: _containers.RepeatedCompositeFieldContainer[FreedomValue]
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., values: _Optional[_Iterable[_Union[FreedomValue, _Mapping]]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class SetDexHandAnglesCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "values")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        VALUES_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        values: _containers.RepeatedCompositeFieldContainer[FreedomValue]
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., values: _Optional[_Iterable[_Union[FreedomValue, _Mapping]]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class SetDexHandForceCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "values")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        VALUES_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        values: _containers.RepeatedCompositeFieldContainer[FreedomValue]
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., values: _Optional[_Iterable[_Union[FreedomValue, _Mapping]]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class SetDexHandSpeedCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "values")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        VALUES_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        values: _containers.RepeatedCompositeFieldContainer[FreedomValue]
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., values: _Optional[_Iterable[_Union[FreedomValue, _Mapping]]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class SetDexHandPresetActCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "presetActId")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        PRESETACTID_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        presetActId: int
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., presetActId: _Optional[int] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetSensorDataCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "sensor")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        SENSOR_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        sensor: _containers.RepeatedCompositeFieldContainer[SensorData]
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., sensor: _Optional[_Iterable[_Union[SensorData, _Mapping]]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetSensorDataStreamCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "sensor")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        SENSOR_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        sensor: _containers.RepeatedCompositeFieldContainer[SensorData]
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., sensor: _Optional[_Iterable[_Union[SensorData, _Mapping]]] = ...) -> None: ...
+    def __init__(self) -> None: ...
diff --git a/src/cmvr/api/dexhand_command_pb2_grpc.py b/src/cmvr/api/dexhand_command_pb2_grpc.py
new file mode 100644
index 0000000..cbcc7b8
--- /dev/null
+++ b/src/cmvr/api/dexhand_command_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/dexhand_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/api/dexhand_service_pb2.py b/src/cmvr/api/dexhand_service_pb2.py
new file mode 100644
index 0000000..4398ead
--- /dev/null
+++ b/src/cmvr/api/dexhand_service_pb2.py
@@ -0,0 +1,37 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/dexhand_service.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/dexhand_service.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import dexhand_command_pb2 as cmvr_dot_api_dot_dexhand__command__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x63mvr/api/dexhand_service.proto\x12\x08\x63mvr.api\x1a\x1e\x63mvr/api/dexhand_command.proto2\xe8\x06\n\x0e\x44\x65xHandService\x12`\n\tGetStatus\x12(.cmvr.api.GetDexHandStateCommand.Request\x1a).cmvr.api.GetDexHandStateCommand.Feedback\x12l\n\rSetDexHandPos\x12,.cmvr.api.SetDexHandPositionsCommand.Request\x1a-.cmvr.api.SetDexHandPositionsCommand.Feedback\x12h\n\x0fSetDexHandAngle\x12).cmvr.api.SetDexHandAnglesCommand.Request\x1a*.cmvr.api.SetDexHandAnglesCommand.Feedback\x12\x66\n\x0fSetDexHandForce\x12(.cmvr.api.SetDexHandForceCommand.Request\x1a).cmvr.api.SetDexHandForceCommand.Feedback\x12\x66\n\x0fSetDexHandSpeed\x12(.cmvr.api.SetDexHandSpeedCommand.Request\x1a).cmvr.api.SetDexHandSpeedCommand.Feedback\x12r\n\x13SetDexHandPresetAct\x12,.cmvr.api.SetDexHandPresetActCommand.Request\x1a-.cmvr.api.SetDexHandPresetActCommand.Feedback\x12`\n\rGetSensorData\x12&.cmvr.api.GetSensorDataCommand.Request\x1a\'.cmvr.api.GetSensorDataCommand.Feedback\x12v\n\x13GetSensorDataStream\x12,.cmvr.api.GetSensorDataStreamCommand.Request\x1a-.cmvr.api.GetSensorDataStreamCommand.Feedback(\x01\x30\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.dexhand_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_DEXHANDSERVICE']._serialized_start=77
+  _globals['_DEXHANDSERVICE']._serialized_end=949
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/dexhand_service_pb2.pyi b/src/cmvr/api/dexhand_service_pb2.pyi
new file mode 100644
index 0000000..4b691ab
--- /dev/null
+++ b/src/cmvr/api/dexhand_service_pb2.pyi
@@ -0,0 +1,5 @@
+from cmvr.api import dexhand_command_pb2 as _dexhand_command_pb2
+from google.protobuf import descriptor as _descriptor
+from typing import ClassVar as _ClassVar
+
+DESCRIPTOR: _descriptor.FileDescriptor
diff --git a/src/cmvr/api/dexhand_service_pb2_grpc.py b/src/cmvr/api/dexhand_service_pb2_grpc.py
new file mode 100644
index 0000000..0f19a24
--- /dev/null
+++ b/src/cmvr/api/dexhand_service_pb2_grpc.py
@@ -0,0 +1,399 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+from cmvr.api import dexhand_command_pb2 as cmvr_dot_api_dot_dexhand__command__pb2
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/dexhand_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class DexHandServiceStub:
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.GetStatus = channel.unary_unary(
+                '/cmvr.api.DexHandService/GetStatus',
+                request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.GetDexHandStateCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.GetDexHandStateCommand.Feedback.FromString,
+                _registered_method=True)
+        self.SetDexHandPos = channel.unary_unary(
+                '/cmvr.api.DexHandService/SetDexHandPos',
+                request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPositionsCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPositionsCommand.Feedback.FromString,
+                _registered_method=True)
+        self.SetDexHandAngle = channel.unary_unary(
+                '/cmvr.api.DexHandService/SetDexHandAngle',
+                request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandAnglesCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandAnglesCommand.Feedback.FromString,
+                _registered_method=True)
+        self.SetDexHandForce = channel.unary_unary(
+                '/cmvr.api.DexHandService/SetDexHandForce',
+                request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandForceCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandForceCommand.Feedback.FromString,
+                _registered_method=True)
+        self.SetDexHandSpeed = channel.unary_unary(
+                '/cmvr.api.DexHandService/SetDexHandSpeed',
+                request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandSpeedCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandSpeedCommand.Feedback.FromString,
+                _registered_method=True)
+        self.SetDexHandPresetAct = channel.unary_unary(
+                '/cmvr.api.DexHandService/SetDexHandPresetAct',
+                request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPresetActCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPresetActCommand.Feedback.FromString,
+                _registered_method=True)
+        self.GetSensorData = channel.unary_unary(
+                '/cmvr.api.DexHandService/GetSensorData',
+                request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataCommand.Feedback.FromString,
+                _registered_method=True)
+        self.GetSensorDataStream = channel.stream_stream(
+                '/cmvr.api.DexHandService/GetSensorDataStream',
+                request_serializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataStreamCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataStreamCommand.Feedback.FromString,
+                _registered_method=True)
+
+
+class DexHandServiceServicer:
+    """Missing associated documentation comment in .proto file."""
+
+    def GetStatus(self, request, context):
+        """基本控制
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SetDexHandPos(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SetDexHandAngle(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SetDexHandForce(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SetDexHandSpeed(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SetDexHandPresetAct(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetSensorData(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetSensorDataStream(self, request_iterator, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_DexHandServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'GetStatus': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetStatus,
+                    request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.GetDexHandStateCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.GetDexHandStateCommand.Feedback.SerializeToString,
+            ),
+            'SetDexHandPos': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetDexHandPos,
+                    request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPositionsCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPositionsCommand.Feedback.SerializeToString,
+            ),
+            'SetDexHandAngle': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetDexHandAngle,
+                    request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandAnglesCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandAnglesCommand.Feedback.SerializeToString,
+            ),
+            'SetDexHandForce': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetDexHandForce,
+                    request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandForceCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandForceCommand.Feedback.SerializeToString,
+            ),
+            'SetDexHandSpeed': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetDexHandSpeed,
+                    request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandSpeedCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandSpeedCommand.Feedback.SerializeToString,
+            ),
+            'SetDexHandPresetAct': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetDexHandPresetAct,
+                    request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPresetActCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPresetActCommand.Feedback.SerializeToString,
+            ),
+            'GetSensorData': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetSensorData,
+                    request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataCommand.Feedback.SerializeToString,
+            ),
+            'GetSensorDataStream': grpc.stream_stream_rpc_method_handler(
+                    servicer.GetSensorDataStream,
+                    request_deserializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataStreamCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataStreamCommand.Feedback.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'cmvr.api.DexHandService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.DexHandService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class DexHandService:
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def GetStatus(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.DexHandService/GetStatus',
+            cmvr_dot_api_dot_dexhand__command__pb2.GetDexHandStateCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_dexhand__command__pb2.GetDexHandStateCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def SetDexHandPos(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.DexHandService/SetDexHandPos',
+            cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPositionsCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPositionsCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def SetDexHandAngle(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.DexHandService/SetDexHandAngle',
+            cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandAnglesCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandAnglesCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def SetDexHandForce(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.DexHandService/SetDexHandForce',
+            cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandForceCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandForceCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def SetDexHandSpeed(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.DexHandService/SetDexHandSpeed',
+            cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandSpeedCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandSpeedCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def SetDexHandPresetAct(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.DexHandService/SetDexHandPresetAct',
+            cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPresetActCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_dexhand__command__pb2.SetDexHandPresetActCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetSensorData(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.DexHandService/GetSensorData',
+            cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetSensorDataStream(request_iterator,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.stream_stream(
+            request_iterator,
+            target,
+            '/cmvr.api.DexHandService/GetSensorDataStream',
+            cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataStreamCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_dexhand__command__pb2.GetSensorDataStreamCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
diff --git a/src/cmvr/api/hlc_command_pb2.py b/src/cmvr/api/hlc_command_pb2.py
new file mode 100644
index 0000000..a28be26
--- /dev/null
+++ b/src/cmvr/api/hlc_command_pb2.py
@@ -0,0 +1,41 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/hlc_command.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/hlc_command.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/hlc_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"\xaa\x01\n\x05Touch\x1a\x63\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\t\n\x01u\x18\x02 \x01(\x05\x12\t\n\x01v\x18\x03 \x01(\x05\x12\x11\n\tmax_force\x18\x04 \x01(\x01\x1a<\n\x08Response\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedbackb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.hlc_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_TOUCH']._serialized_start=64
+  _globals['_TOUCH']._serialized_end=234
+  _globals['_TOUCH_REQUEST']._serialized_start=73
+  _globals['_TOUCH_REQUEST']._serialized_end=172
+  _globals['_TOUCH_RESPONSE']._serialized_start=174
+  _globals['_TOUCH_RESPONSE']._serialized_end=234
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/hlc_command_pb2.pyi b/src/cmvr/api/hlc_command_pb2.pyi
new file mode 100644
index 0000000..a254639
--- /dev/null
+++ b/src/cmvr/api/hlc_command_pb2.pyi
@@ -0,0 +1,27 @@
+from cmvr.api import common_pb2 as _common_pb2
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class Touch(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "u", "v", "max_force")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        U_FIELD_NUMBER: _ClassVar[int]
+        V_FIELD_NUMBER: _ClassVar[int]
+        MAX_FORCE_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        u: int
+        v: int
+        max_force: float
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., u: _Optional[int] = ..., v: _Optional[int] = ..., max_force: _Optional[float] = ...) -> None: ...
+    class Response(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
diff --git a/src/cmvr/api/hlc_command_pb2_grpc.py b/src/cmvr/api/hlc_command_pb2_grpc.py
new file mode 100644
index 0000000..d5672e0
--- /dev/null
+++ b/src/cmvr/api/hlc_command_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/hlc_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/api/hlc_service_pb2.py b/src/cmvr/api/hlc_service_pb2.py
new file mode 100644
index 0000000..c010d37
--- /dev/null
+++ b/src/cmvr/api/hlc_service_pb2.py
@@ -0,0 +1,37 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/hlc_service.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/hlc_service.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import hlc_command_pb2 as cmvr_dot_api_dot_hlc__command__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/api/hlc_service.proto\x12\x08\x63mvr.api\x1a\x1a\x63mvr/api/hlc_command.proto2H\n\nHlcService\x12:\n\x05touch\x12\x17.cmvr.api.Touch.Request\x1a\x18.cmvr.api.Touch.Responseb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.hlc_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_HLCSERVICE']._serialized_start=68
+  _globals['_HLCSERVICE']._serialized_end=140
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/hlc_service_pb2.pyi b/src/cmvr/api/hlc_service_pb2.pyi
new file mode 100644
index 0000000..db31920
--- /dev/null
+++ b/src/cmvr/api/hlc_service_pb2.pyi
@@ -0,0 +1,5 @@
+from cmvr.api import hlc_command_pb2 as _hlc_command_pb2
+from google.protobuf import descriptor as _descriptor
+from typing import ClassVar as _ClassVar
+
+DESCRIPTOR: _descriptor.FileDescriptor
diff --git a/src/cmvr/api/hlc_service_pb2_grpc.py b/src/cmvr/api/hlc_service_pb2_grpc.py
new file mode 100644
index 0000000..91ab8a1
--- /dev/null
+++ b/src/cmvr/api/hlc_service_pb2_grpc.py
@@ -0,0 +1,97 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+from cmvr.api import hlc_command_pb2 as cmvr_dot_api_dot_hlc__command__pb2
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/hlc_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class HlcServiceStub:
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.touch = channel.unary_unary(
+                '/cmvr.api.HlcService/touch',
+                request_serializer=cmvr_dot_api_dot_hlc__command__pb2.Touch.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_hlc__command__pb2.Touch.Response.FromString,
+                _registered_method=True)
+
+
+class HlcServiceServicer:
+    """Missing associated documentation comment in .proto file."""
+
+    def touch(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_HlcServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'touch': grpc.unary_unary_rpc_method_handler(
+                    servicer.touch,
+                    request_deserializer=cmvr_dot_api_dot_hlc__command__pb2.Touch.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_hlc__command__pb2.Touch.Response.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'cmvr.api.HlcService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.HlcService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class HlcService:
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def touch(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.HlcService/touch',
+            cmvr_dot_api_dot_hlc__command__pb2.Touch.Request.SerializeToString,
+            cmvr_dot_api_dot_hlc__command__pb2.Touch.Response.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
diff --git a/src/cmvr/api/microphone_command_pb2.py b/src/cmvr/api/microphone_command_pb2.py
new file mode 100644
index 0000000..2b78e0e
--- /dev/null
+++ b/src/cmvr/api/microphone_command_pb2.py
@@ -0,0 +1,79 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/microphone_command.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/microphone_command.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n!cmvr/api/microphone_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"s\n\x08MicState\x12\x16\n\x0eis_initialized\x18\x01 \x01(\x08\x12\x12\n\nis_running\x18\x02 \x01(\x08\x12\x14\n\x0cis_recording\x18\x03 \x01(\x08\x12\x0e\n\x06volume\x18\x04 \x01(\x05\x12\x15\n\rerror_message\x18\x05 \x01(\t\"\xb1\x01\n\x12GetMicStateCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a_\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12!\n\x05state\x18\x02 \x01(\x0b\x32\x12.cmvr.api.MicState\"\xa7\x01\n\x18StartMicRecordingCommand\x1aM\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x11\n\tfile_path\x18\x02 \x01(\t\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x93\x01\n\x17StopMicRecordingCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x94\x01\n\x18PauseMicRecordingCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x95\x01\n\x19ResumeMicRecordingCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xa4\x01\n\x18SetMicPhoneVolumeCommand\x1aJ\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0e\n\x06volume\x18\x02 \x01(\x05\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xa4\x01\n\x18GetMicPhoneVolumeCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1aL\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x0e\n\x06volume\x18\x02 \x01(\x05\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.microphone_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_MICSTATE']._serialized_start=70
+  _globals['_MICSTATE']._serialized_end=185
+  _globals['_GETMICSTATECOMMAND']._serialized_start=188
+  _globals['_GETMICSTATECOMMAND']._serialized_end=365
+  _globals['_GETMICSTATECOMMAND_REQUEST']._serialized_start=210
+  _globals['_GETMICSTATECOMMAND_REQUEST']._serialized_end=268
+  _globals['_GETMICSTATECOMMAND_FEEDBACK']._serialized_start=270
+  _globals['_GETMICSTATECOMMAND_FEEDBACK']._serialized_end=365
+  _globals['_STARTMICRECORDINGCOMMAND']._serialized_start=368
+  _globals['_STARTMICRECORDINGCOMMAND']._serialized_end=535
+  _globals['_STARTMICRECORDINGCOMMAND_REQUEST']._serialized_start=396
+  _globals['_STARTMICRECORDINGCOMMAND_REQUEST']._serialized_end=473
+  _globals['_STARTMICRECORDINGCOMMAND_FEEDBACK']._serialized_start=270
+  _globals['_STARTMICRECORDINGCOMMAND_FEEDBACK']._serialized_end=330
+  _globals['_STOPMICRECORDINGCOMMAND']._serialized_start=538
+  _globals['_STOPMICRECORDINGCOMMAND']._serialized_end=685
+  _globals['_STOPMICRECORDINGCOMMAND_REQUEST']._serialized_start=210
+  _globals['_STOPMICRECORDINGCOMMAND_REQUEST']._serialized_end=268
+  _globals['_STOPMICRECORDINGCOMMAND_FEEDBACK']._serialized_start=270
+  _globals['_STOPMICRECORDINGCOMMAND_FEEDBACK']._serialized_end=330
+  _globals['_PAUSEMICRECORDINGCOMMAND']._serialized_start=688
+  _globals['_PAUSEMICRECORDINGCOMMAND']._serialized_end=836
+  _globals['_PAUSEMICRECORDINGCOMMAND_REQUEST']._serialized_start=210
+  _globals['_PAUSEMICRECORDINGCOMMAND_REQUEST']._serialized_end=268
+  _globals['_PAUSEMICRECORDINGCOMMAND_FEEDBACK']._serialized_start=270
+  _globals['_PAUSEMICRECORDINGCOMMAND_FEEDBACK']._serialized_end=330
+  _globals['_RESUMEMICRECORDINGCOMMAND']._serialized_start=839
+  _globals['_RESUMEMICRECORDINGCOMMAND']._serialized_end=988
+  _globals['_RESUMEMICRECORDINGCOMMAND_REQUEST']._serialized_start=210
+  _globals['_RESUMEMICRECORDINGCOMMAND_REQUEST']._serialized_end=268
+  _globals['_RESUMEMICRECORDINGCOMMAND_FEEDBACK']._serialized_start=270
+  _globals['_RESUMEMICRECORDINGCOMMAND_FEEDBACK']._serialized_end=330
+  _globals['_SETMICPHONEVOLUMECOMMAND']._serialized_start=991
+  _globals['_SETMICPHONEVOLUMECOMMAND']._serialized_end=1155
+  _globals['_SETMICPHONEVOLUMECOMMAND_REQUEST']._serialized_start=1019
+  _globals['_SETMICPHONEVOLUMECOMMAND_REQUEST']._serialized_end=1093
+  _globals['_SETMICPHONEVOLUMECOMMAND_FEEDBACK']._serialized_start=270
+  _globals['_SETMICPHONEVOLUMECOMMAND_FEEDBACK']._serialized_end=330
+  _globals['_GETMICPHONEVOLUMECOMMAND']._serialized_start=1158
+  _globals['_GETMICPHONEVOLUMECOMMAND']._serialized_end=1322
+  _globals['_GETMICPHONEVOLUMECOMMAND_REQUEST']._serialized_start=210
+  _globals['_GETMICPHONEVOLUMECOMMAND_REQUEST']._serialized_end=268
+  _globals['_GETMICPHONEVOLUMECOMMAND_FEEDBACK']._serialized_start=1246
+  _globals['_GETMICPHONEVOLUMECOMMAND_FEEDBACK']._serialized_end=1322
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/microphone_command_pb2.pyi b/src/cmvr/api/microphone_command_pb2.pyi
new file mode 100644
index 0000000..1a7ecc2
--- /dev/null
+++ b/src/cmvr/api/microphone_command_pb2.pyi
@@ -0,0 +1,127 @@
+from cmvr.api import common_pb2 as _common_pb2
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class MicState(_message.Message):
+    __slots__ = ("is_initialized", "is_running", "is_recording", "volume", "error_message")
+    IS_INITIALIZED_FIELD_NUMBER: _ClassVar[int]
+    IS_RUNNING_FIELD_NUMBER: _ClassVar[int]
+    IS_RECORDING_FIELD_NUMBER: _ClassVar[int]
+    VOLUME_FIELD_NUMBER: _ClassVar[int]
+    ERROR_MESSAGE_FIELD_NUMBER: _ClassVar[int]
+    is_initialized: bool
+    is_running: bool
+    is_recording: bool
+    volume: int
+    error_message: str
+    def __init__(self, is_initialized: _Optional[bool] = ..., is_running: _Optional[bool] = ..., is_recording: _Optional[bool] = ..., volume: _Optional[int] = ..., error_message: _Optional[str] = ...) -> None: ...
+
+class GetMicStateCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "state")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        STATE_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        state: MicState
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., state: _Optional[_Union[MicState, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class StartMicRecordingCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "file_path")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        FILE_PATH_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        file_path: str
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., file_path: _Optional[str] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class StopMicRecordingCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class PauseMicRecordingCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class ResumeMicRecordingCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class SetMicPhoneVolumeCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "volume")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        VOLUME_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        volume: int
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., volume: _Optional[int] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetMicPhoneVolumeCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "volume")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        VOLUME_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        volume: int
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., volume: _Optional[int] = ...) -> None: ...
+    def __init__(self) -> None: ...
diff --git a/src/cmvr/api/microphone_command_pb2_grpc.py b/src/cmvr/api/microphone_command_pb2_grpc.py
new file mode 100644
index 0000000..97f9f1f
--- /dev/null
+++ b/src/cmvr/api/microphone_command_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/microphone_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/api/microphone_service_pb2.py b/src/cmvr/api/microphone_service_pb2.py
new file mode 100644
index 0000000..9f29ca1
--- /dev/null
+++ b/src/cmvr/api/microphone_service_pb2.py
@@ -0,0 +1,37 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/microphone_service.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/microphone_service.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import microphone_command_pb2 as cmvr_dot_api_dot_microphone__command__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n!cmvr/api/microphone_service.proto\x12\x08\x63mvr.api\x1a!cmvr/api/microphone_command.proto2\xd7\x05\n\x0fMicPhoneService\x12X\n\tGetStatus\x12$.cmvr.api.GetMicStateCommand.Request\x1a%.cmvr.api.GetMicStateCommand.Feedback\x12\x66\n\x0bStartRecord\x12*.cmvr.api.StartMicRecordingCommand.Request\x1a+.cmvr.api.StartMicRecordingCommand.Feedback\x12\x63\n\nStopRecord\x12).cmvr.api.StopMicRecordingCommand.Request\x1a*.cmvr.api.StopMicRecordingCommand.Feedback\x12\x66\n\x0bPauseRecord\x12*.cmvr.api.PauseMicRecordingCommand.Request\x1a+.cmvr.api.PauseMicRecordingCommand.Feedback\x12i\n\x0cResumeRecord\x12+.cmvr.api.ResumeMicRecordingCommand.Request\x1a,.cmvr.api.ResumeMicRecordingCommand.Feedback\x12\x64\n\tSetVolume\x12*.cmvr.api.SetMicPhoneVolumeCommand.Request\x1a+.cmvr.api.SetMicPhoneVolumeCommand.Feedback\x12\x64\n\tGetVolume\x12*.cmvr.api.GetMicPhoneVolumeCommand.Request\x1a+.cmvr.api.GetMicPhoneVolumeCommand.Feedbackb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.microphone_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_MICPHONESERVICE']._serialized_start=83
+  _globals['_MICPHONESERVICE']._serialized_end=810
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/microphone_service_pb2.pyi b/src/cmvr/api/microphone_service_pb2.pyi
new file mode 100644
index 0000000..38e96fd
--- /dev/null
+++ b/src/cmvr/api/microphone_service_pb2.pyi
@@ -0,0 +1,5 @@
+from cmvr.api import microphone_command_pb2 as _microphone_command_pb2
+from google.protobuf import descriptor as _descriptor
+from typing import ClassVar as _ClassVar
+
+DESCRIPTOR: _descriptor.FileDescriptor
diff --git a/src/cmvr/api/microphone_service_pb2_grpc.py b/src/cmvr/api/microphone_service_pb2_grpc.py
new file mode 100644
index 0000000..3fde576
--- /dev/null
+++ b/src/cmvr/api/microphone_service_pb2_grpc.py
@@ -0,0 +1,357 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+from cmvr.api import microphone_command_pb2 as cmvr_dot_api_dot_microphone__command__pb2
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/microphone_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class MicPhoneServiceStub:
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.GetStatus = channel.unary_unary(
+                '/cmvr.api.MicPhoneService/GetStatus',
+                request_serializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicStateCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicStateCommand.Feedback.FromString,
+                _registered_method=True)
+        self.StartRecord = channel.unary_unary(
+                '/cmvr.api.MicPhoneService/StartRecord',
+                request_serializer=cmvr_dot_api_dot_microphone__command__pb2.StartMicRecordingCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.StartMicRecordingCommand.Feedback.FromString,
+                _registered_method=True)
+        self.StopRecord = channel.unary_unary(
+                '/cmvr.api.MicPhoneService/StopRecord',
+                request_serializer=cmvr_dot_api_dot_microphone__command__pb2.StopMicRecordingCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.StopMicRecordingCommand.Feedback.FromString,
+                _registered_method=True)
+        self.PauseRecord = channel.unary_unary(
+                '/cmvr.api.MicPhoneService/PauseRecord',
+                request_serializer=cmvr_dot_api_dot_microphone__command__pb2.PauseMicRecordingCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.PauseMicRecordingCommand.Feedback.FromString,
+                _registered_method=True)
+        self.ResumeRecord = channel.unary_unary(
+                '/cmvr.api.MicPhoneService/ResumeRecord',
+                request_serializer=cmvr_dot_api_dot_microphone__command__pb2.ResumeMicRecordingCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.ResumeMicRecordingCommand.Feedback.FromString,
+                _registered_method=True)
+        self.SetVolume = channel.unary_unary(
+                '/cmvr.api.MicPhoneService/SetVolume',
+                request_serializer=cmvr_dot_api_dot_microphone__command__pb2.SetMicPhoneVolumeCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.SetMicPhoneVolumeCommand.Feedback.FromString,
+                _registered_method=True)
+        self.GetVolume = channel.unary_unary(
+                '/cmvr.api.MicPhoneService/GetVolume',
+                request_serializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicPhoneVolumeCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicPhoneVolumeCommand.Feedback.FromString,
+                _registered_method=True)
+
+
+class MicPhoneServiceServicer:
+    """Missing associated documentation comment in .proto file."""
+
+    def GetStatus(self, request, context):
+        """基本控制
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StartRecord(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StopRecord(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def PauseRecord(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ResumeRecord(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SetVolume(self, request, context):
+        """音量控制
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetVolume(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_MicPhoneServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'GetStatus': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetStatus,
+                    request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicStateCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicStateCommand.Feedback.SerializeToString,
+            ),
+            'StartRecord': grpc.unary_unary_rpc_method_handler(
+                    servicer.StartRecord,
+                    request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.StartMicRecordingCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_microphone__command__pb2.StartMicRecordingCommand.Feedback.SerializeToString,
+            ),
+            'StopRecord': grpc.unary_unary_rpc_method_handler(
+                    servicer.StopRecord,
+                    request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.StopMicRecordingCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_microphone__command__pb2.StopMicRecordingCommand.Feedback.SerializeToString,
+            ),
+            'PauseRecord': grpc.unary_unary_rpc_method_handler(
+                    servicer.PauseRecord,
+                    request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.PauseMicRecordingCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_microphone__command__pb2.PauseMicRecordingCommand.Feedback.SerializeToString,
+            ),
+            'ResumeRecord': grpc.unary_unary_rpc_method_handler(
+                    servicer.ResumeRecord,
+                    request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.ResumeMicRecordingCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_microphone__command__pb2.ResumeMicRecordingCommand.Feedback.SerializeToString,
+            ),
+            'SetVolume': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetVolume,
+                    request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.SetMicPhoneVolumeCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_microphone__command__pb2.SetMicPhoneVolumeCommand.Feedback.SerializeToString,
+            ),
+            'GetVolume': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetVolume,
+                    request_deserializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicPhoneVolumeCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_microphone__command__pb2.GetMicPhoneVolumeCommand.Feedback.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'cmvr.api.MicPhoneService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.MicPhoneService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class MicPhoneService:
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def GetStatus(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.MicPhoneService/GetStatus',
+            cmvr_dot_api_dot_microphone__command__pb2.GetMicStateCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_microphone__command__pb2.GetMicStateCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def StartRecord(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.MicPhoneService/StartRecord',
+            cmvr_dot_api_dot_microphone__command__pb2.StartMicRecordingCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_microphone__command__pb2.StartMicRecordingCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def StopRecord(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.MicPhoneService/StopRecord',
+            cmvr_dot_api_dot_microphone__command__pb2.StopMicRecordingCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_microphone__command__pb2.StopMicRecordingCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def PauseRecord(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.MicPhoneService/PauseRecord',
+            cmvr_dot_api_dot_microphone__command__pb2.PauseMicRecordingCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_microphone__command__pb2.PauseMicRecordingCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def ResumeRecord(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.MicPhoneService/ResumeRecord',
+            cmvr_dot_api_dot_microphone__command__pb2.ResumeMicRecordingCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_microphone__command__pb2.ResumeMicRecordingCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def SetVolume(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.MicPhoneService/SetVolume',
+            cmvr_dot_api_dot_microphone__command__pb2.SetMicPhoneVolumeCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_microphone__command__pb2.SetMicPhoneVolumeCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetVolume(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.MicPhoneService/GetVolume',
+            cmvr_dot_api_dot_microphone__command__pb2.GetMicPhoneVolumeCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_microphone__command__pb2.GetMicPhoneVolumeCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
diff --git a/src/cmvr/api/speaker_command_pb2.py b/src/cmvr/api/speaker_command_pb2.py
new file mode 100644
index 0000000..e67e0bf
--- /dev/null
+++ b/src/cmvr/api/speaker_command_pb2.py
@@ -0,0 +1,83 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/speaker_command.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/speaker_command.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x63mvr/api/speaker_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"\xb3\x01\n\tAudioData\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\x0c\x12\x13\n\x0bsample_rate\x18\x02 \x01(\x05\x12\x10\n\x08\x63hannels\x18\x03 \x01(\x05\x12/\n\x06\x66ormat\x18\x04 \x01(\x0e\x32\x1f.cmvr.api.AudioData.AudioFormat\x12\r\n\x05\x63odec\x18\x05 \x01(\t\"1\n\x0b\x41udioFormat\x12\x07\n\x03PCM\x10\x00\x12\x07\n\x03MP3\x10\x01\x12\x07\n\x03\x41\x41\x43\x10\x02\x12\x07\n\x03WAV\x10\x03\"\x89\x01\n\x0cSpeakerState\x12\x16\n\x0eis_initialized\x18\x01 \x01(\x08\x12\x12\n\nis_running\x18\x02 \x01(\x08\x12\x13\n\x0bis_decoding\x18\x03 \x01(\x08\x12\x11\n\tis_paused\x18\x05 \x01(\x08\x12\x0e\n\x06volume\x18\x06 \x01(\x05\x12\x15\n\rerror_message\x18\x07 \x01(\t\"\xb9\x01\n\x16GetSpeakerStateCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a\x63\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12%\n\x05state\x18\x02 \x01(\x0b\x32\x16.cmvr.api.SpeakerState\"\xa0\x01\n\x10PlayAudioCommand\x1aN\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x12\n\naudio_path\x18\x02 \x01(\t\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8e\x01\n\x12StopSpeakerCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8f\x01\n\x13PauseSpeakerCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x90\x01\n\x14ResumeSpeakerCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xa3\x01\n\x17SetSpeakerVolumeCommand\x1aJ\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12\x0e\n\x06volume\x18\x02 \x01(\x05\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\xa3\x01\n\x17GetSpeakerVolumeCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1aL\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x0e\n\x06volume\x18\x02 \x01(\x05\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.speaker_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_AUDIODATA']._serialized_start=68
+  _globals['_AUDIODATA']._serialized_end=247
+  _globals['_AUDIODATA_AUDIOFORMAT']._serialized_start=198
+  _globals['_AUDIODATA_AUDIOFORMAT']._serialized_end=247
+  _globals['_SPEAKERSTATE']._serialized_start=250
+  _globals['_SPEAKERSTATE']._serialized_end=387
+  _globals['_GETSPEAKERSTATECOMMAND']._serialized_start=390
+  _globals['_GETSPEAKERSTATECOMMAND']._serialized_end=575
+  _globals['_GETSPEAKERSTATECOMMAND_REQUEST']._serialized_start=416
+  _globals['_GETSPEAKERSTATECOMMAND_REQUEST']._serialized_end=474
+  _globals['_GETSPEAKERSTATECOMMAND_FEEDBACK']._serialized_start=476
+  _globals['_GETSPEAKERSTATECOMMAND_FEEDBACK']._serialized_end=575
+  _globals['_PLAYAUDIOCOMMAND']._serialized_start=578
+  _globals['_PLAYAUDIOCOMMAND']._serialized_end=738
+  _globals['_PLAYAUDIOCOMMAND_REQUEST']._serialized_start=598
+  _globals['_PLAYAUDIOCOMMAND_REQUEST']._serialized_end=676
+  _globals['_PLAYAUDIOCOMMAND_FEEDBACK']._serialized_start=476
+  _globals['_PLAYAUDIOCOMMAND_FEEDBACK']._serialized_end=536
+  _globals['_STOPSPEAKERCOMMAND']._serialized_start=741
+  _globals['_STOPSPEAKERCOMMAND']._serialized_end=883
+  _globals['_STOPSPEAKERCOMMAND_REQUEST']._serialized_start=416
+  _globals['_STOPSPEAKERCOMMAND_REQUEST']._serialized_end=474
+  _globals['_STOPSPEAKERCOMMAND_FEEDBACK']._serialized_start=476
+  _globals['_STOPSPEAKERCOMMAND_FEEDBACK']._serialized_end=536
+  _globals['_PAUSESPEAKERCOMMAND']._serialized_start=886
+  _globals['_PAUSESPEAKERCOMMAND']._serialized_end=1029
+  _globals['_PAUSESPEAKERCOMMAND_REQUEST']._serialized_start=416
+  _globals['_PAUSESPEAKERCOMMAND_REQUEST']._serialized_end=474
+  _globals['_PAUSESPEAKERCOMMAND_FEEDBACK']._serialized_start=476
+  _globals['_PAUSESPEAKERCOMMAND_FEEDBACK']._serialized_end=536
+  _globals['_RESUMESPEAKERCOMMAND']._serialized_start=1032
+  _globals['_RESUMESPEAKERCOMMAND']._serialized_end=1176
+  _globals['_RESUMESPEAKERCOMMAND_REQUEST']._serialized_start=416
+  _globals['_RESUMESPEAKERCOMMAND_REQUEST']._serialized_end=474
+  _globals['_RESUMESPEAKERCOMMAND_FEEDBACK']._serialized_start=476
+  _globals['_RESUMESPEAKERCOMMAND_FEEDBACK']._serialized_end=536
+  _globals['_SETSPEAKERVOLUMECOMMAND']._serialized_start=1179
+  _globals['_SETSPEAKERVOLUMECOMMAND']._serialized_end=1342
+  _globals['_SETSPEAKERVOLUMECOMMAND_REQUEST']._serialized_start=1206
+  _globals['_SETSPEAKERVOLUMECOMMAND_REQUEST']._serialized_end=1280
+  _globals['_SETSPEAKERVOLUMECOMMAND_FEEDBACK']._serialized_start=476
+  _globals['_SETSPEAKERVOLUMECOMMAND_FEEDBACK']._serialized_end=536
+  _globals['_GETSPEAKERVOLUMECOMMAND']._serialized_start=1345
+  _globals['_GETSPEAKERVOLUMECOMMAND']._serialized_end=1508
+  _globals['_GETSPEAKERVOLUMECOMMAND_REQUEST']._serialized_start=416
+  _globals['_GETSPEAKERVOLUMECOMMAND_REQUEST']._serialized_end=474
+  _globals['_GETSPEAKERVOLUMECOMMAND_FEEDBACK']._serialized_start=1432
+  _globals['_GETSPEAKERVOLUMECOMMAND_FEEDBACK']._serialized_end=1508
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/speaker_command_pb2.pyi b/src/cmvr/api/speaker_command_pb2.pyi
new file mode 100644
index 0000000..016cd2e
--- /dev/null
+++ b/src/cmvr/api/speaker_command_pb2.pyi
@@ -0,0 +1,154 @@
+from cmvr.api import common_pb2 as _common_pb2
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class AudioData(_message.Message):
+    __slots__ = ("data", "sample_rate", "channels", "format", "codec")
+    class AudioFormat(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        PCM: _ClassVar[AudioData.AudioFormat]
+        MP3: _ClassVar[AudioData.AudioFormat]
+        AAC: _ClassVar[AudioData.AudioFormat]
+        WAV: _ClassVar[AudioData.AudioFormat]
+    PCM: AudioData.AudioFormat
+    MP3: AudioData.AudioFormat
+    AAC: AudioData.AudioFormat
+    WAV: AudioData.AudioFormat
+    DATA_FIELD_NUMBER: _ClassVar[int]
+    SAMPLE_RATE_FIELD_NUMBER: _ClassVar[int]
+    CHANNELS_FIELD_NUMBER: _ClassVar[int]
+    FORMAT_FIELD_NUMBER: _ClassVar[int]
+    CODEC_FIELD_NUMBER: _ClassVar[int]
+    data: bytes
+    sample_rate: int
+    channels: int
+    format: AudioData.AudioFormat
+    codec: str
+    def __init__(self, data: _Optional[bytes] = ..., sample_rate: _Optional[int] = ..., channels: _Optional[int] = ..., format: _Optional[_Union[AudioData.AudioFormat, str]] = ..., codec: _Optional[str] = ...) -> None: ...
+
+class SpeakerState(_message.Message):
+    __slots__ = ("is_initialized", "is_running", "is_decoding", "is_paused", "volume", "error_message")
+    IS_INITIALIZED_FIELD_NUMBER: _ClassVar[int]
+    IS_RUNNING_FIELD_NUMBER: _ClassVar[int]
+    IS_DECODING_FIELD_NUMBER: _ClassVar[int]
+    IS_PAUSED_FIELD_NUMBER: _ClassVar[int]
+    VOLUME_FIELD_NUMBER: _ClassVar[int]
+    ERROR_MESSAGE_FIELD_NUMBER: _ClassVar[int]
+    is_initialized: bool
+    is_running: bool
+    is_decoding: bool
+    is_paused: bool
+    volume: int
+    error_message: str
+    def __init__(self, is_initialized: _Optional[bool] = ..., is_running: _Optional[bool] = ..., is_decoding: _Optional[bool] = ..., is_paused: _Optional[bool] = ..., volume: _Optional[int] = ..., error_message: _Optional[str] = ...) -> None: ...
+
+class GetSpeakerStateCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "state")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        STATE_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        state: SpeakerState
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., state: _Optional[_Union[SpeakerState, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class PlayAudioCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "audio_path")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        AUDIO_PATH_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        audio_path: str
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., audio_path: _Optional[str] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class StopSpeakerCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class PauseSpeakerCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class ResumeSpeakerCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class SetSpeakerVolumeCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "volume")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        VOLUME_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        volume: int
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., volume: _Optional[int] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetSpeakerVolumeCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "volume")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        VOLUME_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        volume: int
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., volume: _Optional[int] = ...) -> None: ...
+    def __init__(self) -> None: ...
diff --git a/src/cmvr/api/speaker_command_pb2_grpc.py b/src/cmvr/api/speaker_command_pb2_grpc.py
new file mode 100644
index 0000000..de6592f
--- /dev/null
+++ b/src/cmvr/api/speaker_command_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/speaker_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/api/speaker_service_pb2.py b/src/cmvr/api/speaker_service_pb2.py
new file mode 100644
index 0000000..6f8cd65
--- /dev/null
+++ b/src/cmvr/api/speaker_service_pb2.py
@@ -0,0 +1,37 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/speaker_service.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/speaker_service.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import speaker_command_pb2 as cmvr_dot_api_dot_speaker__command__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1e\x63mvr/api/speaker_service.proto\x12\x08\x63mvr.api\x1a\x1e\x63mvr/api/speaker_command.proto2\xb0\x05\n\x0eSpeakerService\x12`\n\tGetStatus\x12(.cmvr.api.GetSpeakerStateCommand.Request\x1a).cmvr.api.GetSpeakerStateCommand.Feedback\x12T\n\tPlayAudio\x12\".cmvr.api.PlayAudioCommand.Request\x1a#.cmvr.api.PlayAudioCommand.Feedback\x12[\n\x0cStopPlayback\x12$.cmvr.api.StopSpeakerCommand.Request\x1a%.cmvr.api.StopSpeakerCommand.Feedback\x12^\n\rPausePlayback\x12%.cmvr.api.PauseSpeakerCommand.Request\x1a&.cmvr.api.PauseSpeakerCommand.Feedback\x12\x61\n\x0eResumePlayback\x12&.cmvr.api.ResumeSpeakerCommand.Request\x1a\'.cmvr.api.ResumeSpeakerCommand.Feedback\x12\x62\n\tSetVolume\x12).cmvr.api.SetSpeakerVolumeCommand.Request\x1a*.cmvr.api.SetSpeakerVolumeCommand.Feedback\x12\x62\n\tGetVolume\x12).cmvr.api.GetSpeakerVolumeCommand.Request\x1a*.cmvr.api.GetSpeakerVolumeCommand.Feedbackb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.speaker_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_SPEAKERSERVICE']._serialized_start=77
+  _globals['_SPEAKERSERVICE']._serialized_end=765
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/speaker_service_pb2.pyi b/src/cmvr/api/speaker_service_pb2.pyi
new file mode 100644
index 0000000..b32548a
--- /dev/null
+++ b/src/cmvr/api/speaker_service_pb2.pyi
@@ -0,0 +1,5 @@
+from cmvr.api import speaker_command_pb2 as _speaker_command_pb2
+from google.protobuf import descriptor as _descriptor
+from typing import ClassVar as _ClassVar
+
+DESCRIPTOR: _descriptor.FileDescriptor
diff --git a/src/cmvr/api/speaker_service_pb2_grpc.py b/src/cmvr/api/speaker_service_pb2_grpc.py
new file mode 100644
index 0000000..5914f50
--- /dev/null
+++ b/src/cmvr/api/speaker_service_pb2_grpc.py
@@ -0,0 +1,357 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+from cmvr.api import speaker_command_pb2 as cmvr_dot_api_dot_speaker__command__pb2
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/speaker_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class SpeakerServiceStub:
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.GetStatus = channel.unary_unary(
+                '/cmvr.api.SpeakerService/GetStatus',
+                request_serializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerStateCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerStateCommand.Feedback.FromString,
+                _registered_method=True)
+        self.PlayAudio = channel.unary_unary(
+                '/cmvr.api.SpeakerService/PlayAudio',
+                request_serializer=cmvr_dot_api_dot_speaker__command__pb2.PlayAudioCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.PlayAudioCommand.Feedback.FromString,
+                _registered_method=True)
+        self.StopPlayback = channel.unary_unary(
+                '/cmvr.api.SpeakerService/StopPlayback',
+                request_serializer=cmvr_dot_api_dot_speaker__command__pb2.StopSpeakerCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.StopSpeakerCommand.Feedback.FromString,
+                _registered_method=True)
+        self.PausePlayback = channel.unary_unary(
+                '/cmvr.api.SpeakerService/PausePlayback',
+                request_serializer=cmvr_dot_api_dot_speaker__command__pb2.PauseSpeakerCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.PauseSpeakerCommand.Feedback.FromString,
+                _registered_method=True)
+        self.ResumePlayback = channel.unary_unary(
+                '/cmvr.api.SpeakerService/ResumePlayback',
+                request_serializer=cmvr_dot_api_dot_speaker__command__pb2.ResumeSpeakerCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.ResumeSpeakerCommand.Feedback.FromString,
+                _registered_method=True)
+        self.SetVolume = channel.unary_unary(
+                '/cmvr.api.SpeakerService/SetVolume',
+                request_serializer=cmvr_dot_api_dot_speaker__command__pb2.SetSpeakerVolumeCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.SetSpeakerVolumeCommand.Feedback.FromString,
+                _registered_method=True)
+        self.GetVolume = channel.unary_unary(
+                '/cmvr.api.SpeakerService/GetVolume',
+                request_serializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerVolumeCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerVolumeCommand.Feedback.FromString,
+                _registered_method=True)
+
+
+class SpeakerServiceServicer:
+    """Missing associated documentation comment in .proto file."""
+
+    def GetStatus(self, request, context):
+        """基本控制
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def PlayAudio(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StopPlayback(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def PausePlayback(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def ResumePlayback(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def SetVolume(self, request, context):
+        """音量控制
+        """
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetVolume(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_SpeakerServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'GetStatus': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetStatus,
+                    request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerStateCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerStateCommand.Feedback.SerializeToString,
+            ),
+            'PlayAudio': grpc.unary_unary_rpc_method_handler(
+                    servicer.PlayAudio,
+                    request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.PlayAudioCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_speaker__command__pb2.PlayAudioCommand.Feedback.SerializeToString,
+            ),
+            'StopPlayback': grpc.unary_unary_rpc_method_handler(
+                    servicer.StopPlayback,
+                    request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.StopSpeakerCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_speaker__command__pb2.StopSpeakerCommand.Feedback.SerializeToString,
+            ),
+            'PausePlayback': grpc.unary_unary_rpc_method_handler(
+                    servicer.PausePlayback,
+                    request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.PauseSpeakerCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_speaker__command__pb2.PauseSpeakerCommand.Feedback.SerializeToString,
+            ),
+            'ResumePlayback': grpc.unary_unary_rpc_method_handler(
+                    servicer.ResumePlayback,
+                    request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.ResumeSpeakerCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_speaker__command__pb2.ResumeSpeakerCommand.Feedback.SerializeToString,
+            ),
+            'SetVolume': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetVolume,
+                    request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.SetSpeakerVolumeCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_speaker__command__pb2.SetSpeakerVolumeCommand.Feedback.SerializeToString,
+            ),
+            'GetVolume': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetVolume,
+                    request_deserializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerVolumeCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerVolumeCommand.Feedback.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'cmvr.api.SpeakerService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.SpeakerService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class SpeakerService:
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def GetStatus(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.SpeakerService/GetStatus',
+            cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerStateCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerStateCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def PlayAudio(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.SpeakerService/PlayAudio',
+            cmvr_dot_api_dot_speaker__command__pb2.PlayAudioCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_speaker__command__pb2.PlayAudioCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def StopPlayback(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.SpeakerService/StopPlayback',
+            cmvr_dot_api_dot_speaker__command__pb2.StopSpeakerCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_speaker__command__pb2.StopSpeakerCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def PausePlayback(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.SpeakerService/PausePlayback',
+            cmvr_dot_api_dot_speaker__command__pb2.PauseSpeakerCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_speaker__command__pb2.PauseSpeakerCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def ResumePlayback(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.SpeakerService/ResumePlayback',
+            cmvr_dot_api_dot_speaker__command__pb2.ResumeSpeakerCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_speaker__command__pb2.ResumeSpeakerCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def SetVolume(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.SpeakerService/SetVolume',
+            cmvr_dot_api_dot_speaker__command__pb2.SetSpeakerVolumeCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_speaker__command__pb2.SetSpeakerVolumeCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetVolume(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.SpeakerService/GetVolume',
+            cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerVolumeCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_speaker__command__pb2.GetSpeakerVolumeCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
diff --git a/src/cmvr/api/system_command_pb2.py b/src/cmvr/api/system_command_pb2.py
new file mode 100644
index 0000000..ca596b5
--- /dev/null
+++ b/src/cmvr/api/system_command_pb2.py
@@ -0,0 +1,63 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/system_command.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/system_command.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import common_pb2 as cmvr_dot_api_dot_common__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1d\x63mvr/api/system_command.proto\x12\x08\x63mvr.api\x1a\x15\x63mvr/api/common.proto\"J\n\nDeviceList\x12\x11\n\tdevice_id\x18\x01 \x01(\t\x12)\n\x0b\x64\x65vice_type\x18\x02 \x01(\x0e\x32\x14.cmvr.api.DeviceType\"\xd5\x01\n\x14GetSystemInfoCommand\x1a\t\n\x07Request\x1a\xb1\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x13\n\x0bsystem_name\x18\x02 \x01(\t\x12\x0f\n\x07version\x18\x03 \x01(\t\x12\x13\n\x0b\x64\x65scription\x18\x04 \x01(\t\x12\n\n\x02os\x18\x05 \x01(\t\x12\x16\n\x0ekernel_version\x18\x06 \x01(\t\x12\x14\n\x0c\x61rchitecture\x18\x07 \x01(\t\"\xf8\x01\n\x16GetSystemStatusCommand\x1a\t\n\x07Request\x1a\xd2\x01\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\x12\x11\n\tcpu_usage\x18\x02 \x01(\x02\x12\x14\n\x0cmem_total_mb\x18\x03 \x01(\x02\x12\x13\n\x0bmem_used_mb\x18\x04 \x01(\x02\x12\x15\n\rdisk_total_gb\x18\x05 \x01(\x02\x12\x14\n\x0c\x64isk_used_gb\x18\x06 \x01(\x02\x12)\n\x0b\x64\x65vice_list\x18\x07 \x03(\x0b\x32\x14.cmvr.api.DeviceList\"\xb6\x01\n\x13UpdateParamsCommand\x1a\x61\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x12%\n\x06params\x18\x02 \x03(\x0b\x32\x15.cmvr.api.ConfigParam\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback\"\x8a\x01\n\x0eStopAllCommand\x1a:\n\x07Request\x12/\n\x06header\x18\x01 \x01(\x0b\x32\x1f.cmvr.api.CommandHeader.Request\x1a<\n\x08\x46\x65\x65\x64\x62\x61\x63k\x12\x30\n\x06header\x18\x01 \x01(\x0b\x32 .cmvr.api.CommandHeader.Feedback*}\n\nDeviceType\x12\x07\n\x03\x41GV\x10\x00\x12\x0b\n\x07\x42\x61ttery\x10\x01\x12\n\n\x06\x43\x61mera\x10\x02\x12\x0b\n\x07\x44\x65xHand\x10\x03\x12\x0b\n\x07Gripper\x10\x04\x12\x0e\n\nMicrophone\x10\x05\x12\t\n\x05Robot\x10\x06\x12\x0b\n\x07Speaker\x10\x07\x12\x0b\n\x07Unknown\x10\x14\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.system_command_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_DEVICETYPE']._serialized_start=935
+  _globals['_DEVICETYPE']._serialized_end=1060
+  _globals['_DEVICELIST']._serialized_start=66
+  _globals['_DEVICELIST']._serialized_end=140
+  _globals['_GETSYSTEMINFOCOMMAND']._serialized_start=143
+  _globals['_GETSYSTEMINFOCOMMAND']._serialized_end=356
+  _globals['_GETSYSTEMINFOCOMMAND_REQUEST']._serialized_start=167
+  _globals['_GETSYSTEMINFOCOMMAND_REQUEST']._serialized_end=176
+  _globals['_GETSYSTEMINFOCOMMAND_FEEDBACK']._serialized_start=179
+  _globals['_GETSYSTEMINFOCOMMAND_FEEDBACK']._serialized_end=356
+  _globals['_GETSYSTEMSTATUSCOMMAND']._serialized_start=359
+  _globals['_GETSYSTEMSTATUSCOMMAND']._serialized_end=607
+  _globals['_GETSYSTEMSTATUSCOMMAND_REQUEST']._serialized_start=167
+  _globals['_GETSYSTEMSTATUSCOMMAND_REQUEST']._serialized_end=176
+  _globals['_GETSYSTEMSTATUSCOMMAND_FEEDBACK']._serialized_start=397
+  _globals['_GETSYSTEMSTATUSCOMMAND_FEEDBACK']._serialized_end=607
+  _globals['_UPDATEPARAMSCOMMAND']._serialized_start=610
+  _globals['_UPDATEPARAMSCOMMAND']._serialized_end=792
+  _globals['_UPDATEPARAMSCOMMAND_REQUEST']._serialized_start=633
+  _globals['_UPDATEPARAMSCOMMAND_REQUEST']._serialized_end=730
+  _globals['_UPDATEPARAMSCOMMAND_FEEDBACK']._serialized_start=179
+  _globals['_UPDATEPARAMSCOMMAND_FEEDBACK']._serialized_end=239
+  _globals['_STOPALLCOMMAND']._serialized_start=795
+  _globals['_STOPALLCOMMAND']._serialized_end=933
+  _globals['_STOPALLCOMMAND_REQUEST']._serialized_start=633
+  _globals['_STOPALLCOMMAND_REQUEST']._serialized_end=691
+  _globals['_STOPALLCOMMAND_FEEDBACK']._serialized_start=179
+  _globals['_STOPALLCOMMAND_FEEDBACK']._serialized_end=239
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/system_command_pb2.pyi b/src/cmvr/api/system_command_pb2.pyi
new file mode 100644
index 0000000..6190153
--- /dev/null
+++ b/src/cmvr/api/system_command_pb2.pyi
@@ -0,0 +1,116 @@
+from cmvr.api import common_pb2 as _common_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class DeviceType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    AGV: _ClassVar[DeviceType]
+    Battery: _ClassVar[DeviceType]
+    Camera: _ClassVar[DeviceType]
+    DexHand: _ClassVar[DeviceType]
+    Gripper: _ClassVar[DeviceType]
+    Microphone: _ClassVar[DeviceType]
+    Robot: _ClassVar[DeviceType]
+    Speaker: _ClassVar[DeviceType]
+    Unknown: _ClassVar[DeviceType]
+AGV: DeviceType
+Battery: DeviceType
+Camera: DeviceType
+DexHand: DeviceType
+Gripper: DeviceType
+Microphone: DeviceType
+Robot: DeviceType
+Speaker: DeviceType
+Unknown: DeviceType
+
+class DeviceList(_message.Message):
+    __slots__ = ("device_id", "device_type")
+    DEVICE_ID_FIELD_NUMBER: _ClassVar[int]
+    DEVICE_TYPE_FIELD_NUMBER: _ClassVar[int]
+    device_id: str
+    device_type: DeviceType
+    def __init__(self, device_id: _Optional[str] = ..., device_type: _Optional[_Union[DeviceType, str]] = ...) -> None: ...
+
+class GetSystemInfoCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ()
+        def __init__(self) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "system_name", "version", "description", "os", "kernel_version", "architecture")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        SYSTEM_NAME_FIELD_NUMBER: _ClassVar[int]
+        VERSION_FIELD_NUMBER: _ClassVar[int]
+        DESCRIPTION_FIELD_NUMBER: _ClassVar[int]
+        OS_FIELD_NUMBER: _ClassVar[int]
+        KERNEL_VERSION_FIELD_NUMBER: _ClassVar[int]
+        ARCHITECTURE_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        system_name: str
+        version: str
+        description: str
+        os: str
+        kernel_version: str
+        architecture: str
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., system_name: _Optional[str] = ..., version: _Optional[str] = ..., description: _Optional[str] = ..., os: _Optional[str] = ..., kernel_version: _Optional[str] = ..., architecture: _Optional[str] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class GetSystemStatusCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ()
+        def __init__(self) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header", "cpu_usage", "mem_total_mb", "mem_used_mb", "disk_total_gb", "disk_used_gb", "device_list")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        CPU_USAGE_FIELD_NUMBER: _ClassVar[int]
+        MEM_TOTAL_MB_FIELD_NUMBER: _ClassVar[int]
+        MEM_USED_MB_FIELD_NUMBER: _ClassVar[int]
+        DISK_TOTAL_GB_FIELD_NUMBER: _ClassVar[int]
+        DISK_USED_GB_FIELD_NUMBER: _ClassVar[int]
+        DEVICE_LIST_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        cpu_usage: float
+        mem_total_mb: float
+        mem_used_mb: float
+        disk_total_gb: float
+        disk_used_gb: float
+        device_list: _containers.RepeatedCompositeFieldContainer[DeviceList]
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ..., cpu_usage: _Optional[float] = ..., mem_total_mb: _Optional[float] = ..., mem_used_mb: _Optional[float] = ..., disk_total_gb: _Optional[float] = ..., disk_used_gb: _Optional[float] = ..., device_list: _Optional[_Iterable[_Union[DeviceList, _Mapping]]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class UpdateParamsCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header", "params")
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        PARAMS_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        params: _containers.RepeatedCompositeFieldContainer[_common_pb2.ConfigParam]
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ..., params: _Optional[_Iterable[_Union[_common_pb2.ConfigParam, _Mapping]]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
+
+class StopAllCommand(_message.Message):
+    __slots__ = ()
+    class Request(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Request
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Request, _Mapping]] = ...) -> None: ...
+    class Feedback(_message.Message):
+        __slots__ = ("header",)
+        HEADER_FIELD_NUMBER: _ClassVar[int]
+        header: _common_pb2.CommandHeader.Feedback
+        def __init__(self, header: _Optional[_Union[_common_pb2.CommandHeader.Feedback, _Mapping]] = ...) -> None: ...
+    def __init__(self) -> None: ...
diff --git a/src/cmvr/api/system_command_pb2_grpc.py b/src/cmvr/api/system_command_pb2_grpc.py
new file mode 100644
index 0000000..e13624b
--- /dev/null
+++ b/src/cmvr/api/system_command_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/system_command_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/api/system_service_pb2.py b/src/cmvr/api/system_service_pb2.py
new file mode 100644
index 0000000..859ba7f
--- /dev/null
+++ b/src/cmvr/api/system_service_pb2.py
@@ -0,0 +1,37 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/system_service.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/system_service.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.api import system_command_pb2 as cmvr_dot_api_dot_system__command__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1d\x63mvr/api/system_service.proto\x12\x08\x63mvr.api\x1a\x1d\x63mvr/api/system_command.proto2\x90\x03\n\rSystemService\x12\x62\n\rGetSystemInfo\x12&.cmvr.api.GetSystemInfoCommand.Request\x1a\'.cmvr.api.GetSystemInfoCommand.Feedback\"\x00\x12h\n\x0fGetSystemStatus\x12(.cmvr.api.GetSystemStatusCommand.Request\x1a).cmvr.api.GetSystemStatusCommand.Feedback\"\x00\x12_\n\x0cUpdateParams\x12%.cmvr.api.UpdateParamsCommand.Request\x1a&.cmvr.api.UpdateParamsCommand.Feedback\"\x00\x12P\n\x07StopAll\x12 .cmvr.api.StopAllCommand.Request\x1a!.cmvr.api.StopAllCommand.Feedback\"\x00\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.system_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_SYSTEMSERVICE']._serialized_start=75
+  _globals['_SYSTEMSERVICE']._serialized_end=475
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/system_service_pb2.pyi b/src/cmvr/api/system_service_pb2.pyi
new file mode 100644
index 0000000..d696a2d
--- /dev/null
+++ b/src/cmvr/api/system_service_pb2.pyi
@@ -0,0 +1,5 @@
+from cmvr.api import system_command_pb2 as _system_command_pb2
+from google.protobuf import descriptor as _descriptor
+from typing import ClassVar as _ClassVar
+
+DESCRIPTOR: _descriptor.FileDescriptor
diff --git a/src/cmvr/api/system_service_pb2_grpc.py b/src/cmvr/api/system_service_pb2_grpc.py
new file mode 100644
index 0000000..145c99c
--- /dev/null
+++ b/src/cmvr/api/system_service_pb2_grpc.py
@@ -0,0 +1,226 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+from cmvr.api import system_command_pb2 as cmvr_dot_api_dot_system__command__pb2
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/system_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class SystemServiceStub:
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.GetSystemInfo = channel.unary_unary(
+                '/cmvr.api.SystemService/GetSystemInfo',
+                request_serializer=cmvr_dot_api_dot_system__command__pb2.GetSystemInfoCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_system__command__pb2.GetSystemInfoCommand.Feedback.FromString,
+                _registered_method=True)
+        self.GetSystemStatus = channel.unary_unary(
+                '/cmvr.api.SystemService/GetSystemStatus',
+                request_serializer=cmvr_dot_api_dot_system__command__pb2.GetSystemStatusCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_system__command__pb2.GetSystemStatusCommand.Feedback.FromString,
+                _registered_method=True)
+        self.UpdateParams = channel.unary_unary(
+                '/cmvr.api.SystemService/UpdateParams',
+                request_serializer=cmvr_dot_api_dot_system__command__pb2.UpdateParamsCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_system__command__pb2.UpdateParamsCommand.Feedback.FromString,
+                _registered_method=True)
+        self.StopAll = channel.unary_unary(
+                '/cmvr.api.SystemService/StopAll',
+                request_serializer=cmvr_dot_api_dot_system__command__pb2.StopAllCommand.Request.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_system__command__pb2.StopAllCommand.Feedback.FromString,
+                _registered_method=True)
+
+
+class SystemServiceServicer:
+    """Missing associated documentation comment in .proto file."""
+
+    def GetSystemInfo(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def GetSystemStatus(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def UpdateParams(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+    def StopAll(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_SystemServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'GetSystemInfo': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetSystemInfo,
+                    request_deserializer=cmvr_dot_api_dot_system__command__pb2.GetSystemInfoCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_system__command__pb2.GetSystemInfoCommand.Feedback.SerializeToString,
+            ),
+            'GetSystemStatus': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetSystemStatus,
+                    request_deserializer=cmvr_dot_api_dot_system__command__pb2.GetSystemStatusCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_system__command__pb2.GetSystemStatusCommand.Feedback.SerializeToString,
+            ),
+            'UpdateParams': grpc.unary_unary_rpc_method_handler(
+                    servicer.UpdateParams,
+                    request_deserializer=cmvr_dot_api_dot_system__command__pb2.UpdateParamsCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_system__command__pb2.UpdateParamsCommand.Feedback.SerializeToString,
+            ),
+            'StopAll': grpc.unary_unary_rpc_method_handler(
+                    servicer.StopAll,
+                    request_deserializer=cmvr_dot_api_dot_system__command__pb2.StopAllCommand.Request.FromString,
+                    response_serializer=cmvr_dot_api_dot_system__command__pb2.StopAllCommand.Feedback.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'cmvr.api.SystemService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.SystemService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class SystemService:
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def GetSystemInfo(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.SystemService/GetSystemInfo',
+            cmvr_dot_api_dot_system__command__pb2.GetSystemInfoCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_system__command__pb2.GetSystemInfoCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def GetSystemStatus(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.SystemService/GetSystemStatus',
+            cmvr_dot_api_dot_system__command__pb2.GetSystemStatusCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_system__command__pb2.GetSystemStatusCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def UpdateParams(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.SystemService/UpdateParams',
+            cmvr_dot_api_dot_system__command__pb2.UpdateParamsCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_system__command__pb2.UpdateParamsCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
+
+    @staticmethod
+    def StopAll(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.SystemService/StopAll',
+            cmvr_dot_api_dot_system__command__pb2.StopAllCommand.Request.SerializeToString,
+            cmvr_dot_api_dot_system__command__pb2.StopAllCommand.Feedback.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
diff --git a/src/cmvr/api/test_service_pb2.py b/src/cmvr/api/test_service_pb2.py
new file mode 100644
index 0000000..2241a7d
--- /dev/null
+++ b/src/cmvr/api/test_service_pb2.py
@@ -0,0 +1,40 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/api/test_service.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/api/test_service.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1b\x63mvr/api/test_service.proto\x12\x08\x63mvr.api\"\x1b\n\x0bTestReqeust\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\t\"\x1c\n\x0cTestResponse\x12\x0c\n\x04\x64\x61ta\x18\x01 \x01(\t2D\n\x0bTestService\x12\x35\n\x04\x43\x61ll\x12\x15.cmvr.api.TestReqeust\x1a\x16.cmvr.api.TestResponseb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.api.test_service_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_TESTREQEUST']._serialized_start=41
+  _globals['_TESTREQEUST']._serialized_end=68
+  _globals['_TESTRESPONSE']._serialized_start=70
+  _globals['_TESTRESPONSE']._serialized_end=98
+  _globals['_TESTSERVICE']._serialized_start=100
+  _globals['_TESTSERVICE']._serialized_end=168
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/api/test_service_pb2.pyi b/src/cmvr/api/test_service_pb2.pyi
new file mode 100644
index 0000000..586bbd5
--- /dev/null
+++ b/src/cmvr/api/test_service_pb2.pyi
@@ -0,0 +1,17 @@
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from typing import ClassVar as _ClassVar, Optional as _Optional
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class TestReqeust(_message.Message):
+    __slots__ = ("data",)
+    DATA_FIELD_NUMBER: _ClassVar[int]
+    data: str
+    def __init__(self, data: _Optional[str] = ...) -> None: ...
+
+class TestResponse(_message.Message):
+    __slots__ = ("data",)
+    DATA_FIELD_NUMBER: _ClassVar[int]
+    data: str
+    def __init__(self, data: _Optional[str] = ...) -> None: ...
diff --git a/src/cmvr/api/test_service_pb2_grpc.py b/src/cmvr/api/test_service_pb2_grpc.py
new file mode 100644
index 0000000..df27866
--- /dev/null
+++ b/src/cmvr/api/test_service_pb2_grpc.py
@@ -0,0 +1,97 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+from cmvr.api import test_service_pb2 as cmvr_dot_api_dot_test__service__pb2
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/api/test_service_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
+
+
+class TestServiceStub:
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.Call = channel.unary_unary(
+                '/cmvr.api.TestService/Call',
+                request_serializer=cmvr_dot_api_dot_test__service__pb2.TestReqeust.SerializeToString,
+                response_deserializer=cmvr_dot_api_dot_test__service__pb2.TestResponse.FromString,
+                _registered_method=True)
+
+
+class TestServiceServicer:
+    """Missing associated documentation comment in .proto file."""
+
+    def Call(self, request, context):
+        """Missing associated documentation comment in .proto file."""
+        context.set_code(grpc.StatusCode.UNIMPLEMENTED)
+        context.set_details('Method not implemented!')
+        raise NotImplementedError('Method not implemented!')
+
+
+def add_TestServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'Call': grpc.unary_unary_rpc_method_handler(
+                    servicer.Call,
+                    request_deserializer=cmvr_dot_api_dot_test__service__pb2.TestReqeust.FromString,
+                    response_serializer=cmvr_dot_api_dot_test__service__pb2.TestResponse.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'cmvr.api.TestService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+    server.add_registered_method_handlers('cmvr.api.TestService', rpc_method_handlers)
+
+
+ # This class is part of an EXPERIMENTAL API.
+class TestService:
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def Call(request,
+            target,
+            options=(),
+            channel_credentials=None,
+            call_credentials=None,
+            insecure=False,
+            compression=None,
+            wait_for_ready=None,
+            timeout=None,
+            metadata=None):
+        return grpc.experimental.unary_unary(
+            request,
+            target,
+            '/cmvr.api.TestService/Call',
+            cmvr_dot_api_dot_test__service__pb2.TestReqeust.SerializeToString,
+            cmvr_dot_api_dot_test__service__pb2.TestResponse.FromString,
+            options,
+            channel_credentials,
+            insecure,
+            call_credentials,
+            compression,
+            wait_for_ready,
+            timeout,
+            metadata,
+            _registered_method=True)
diff --git a/src/cmvr/common/__pycache__/geometry_pb2.cpython-310.pyc b/src/cmvr/common/__pycache__/geometry_pb2.cpython-310.pyc
new file mode 100644
index 0000000..4ec4a99
Binary files /dev/null and b/src/cmvr/common/__pycache__/geometry_pb2.cpython-310.pyc differ
diff --git a/src/cmvr/common/__pycache__/geometry_pb2.cpython-312.pyc b/src/cmvr/common/__pycache__/geometry_pb2.cpython-312.pyc
new file mode 100644
index 0000000..780fb0d
Binary files /dev/null and b/src/cmvr/common/__pycache__/geometry_pb2.cpython-312.pyc differ
diff --git a/src/cmvr/common/__pycache__/geometry_pb2_grpc.cpython-310.pyc b/src/cmvr/common/__pycache__/geometry_pb2_grpc.cpython-310.pyc
new file mode 100644
index 0000000..062f5c0
Binary files /dev/null and b/src/cmvr/common/__pycache__/geometry_pb2_grpc.cpython-310.pyc differ
diff --git a/src/cmvr/common/__pycache__/geometry_pb2_grpc.cpython-312.pyc b/src/cmvr/common/__pycache__/geometry_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..861a77d
Binary files /dev/null and b/src/cmvr/common/__pycache__/geometry_pb2_grpc.cpython-312.pyc differ
diff --git a/src/cmvr/common/geometry_pb2.py b/src/cmvr/common/geometry_pb2.py
new file mode 100644
index 0000000..34864a8
--- /dev/null
+++ b/src/cmvr/common/geometry_pb2.py
@@ -0,0 +1,52 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/common/geometry.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/common/geometry.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/common/geometry.proto\x12\x0b\x63mvr.common\"2\n\x04Vec2\x12\x0e\n\x01x\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x0e\n\x01y\x18\x02 \x01(\x01H\x01\x88\x01\x01\x42\x04\n\x02_xB\x04\n\x02_y\"H\n\x04Vec3\x12\x0e\n\x01x\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x0e\n\x01y\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x0e\n\x01z\x18\x03 \x01(\x01H\x02\x88\x01\x01\x42\x04\n\x02_xB\x04\n\x02_yB\x04\n\x02_z\"\x90\x01\n\x04Vec6\x12\x0e\n\x01x\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x0e\n\x01y\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x0e\n\x01z\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12\x0f\n\x02rx\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12\x0f\n\x02ry\x18\x05 \x01(\x01H\x04\x88\x01\x01\x12\x0f\n\x02rz\x18\x06 \x01(\x01H\x05\x88\x01\x01\x42\x04\n\x02_xB\x04\n\x02_yB\x04\n\x02_zB\x05\n\x03_rxB\x05\n\x03_ryB\x05\n\x03_rz\"^\n\x04Quat\x12\x0e\n\x01w\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x0e\n\x01x\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x0e\n\x01y\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12\x0e\n\x01z\x18\x04 \x01(\x01H\x03\x88\x01\x01\x42\x04\n\x02_wB\x04\n\x02_xB\x04\n\x02_yB\x04\n\x02_z\"O\n\x05\x45uler\x12\x0f\n\x02rx\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x0f\n\x02ry\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x0f\n\x02rz\x18\x03 \x01(\x01H\x02\x88\x01\x01\x42\x05\n\x03_rxB\x05\n\x03_ryB\x05\n\x03_rz\"w\n\x06Pose3d\x12#\n\x08position\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec3\x12%\n\nquaternion\x18\x02 \x01(\x0b\x32\x11.cmvr.common.Quat\x12!\n\x05\x65uler\x18\x03 \x01(\x0b\x32\x12.cmvr.common.Euler\"R\n\x06Pose2d\x12\x0e\n\x01x\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x0e\n\x01y\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x12\n\x05theta\x18\x03 \x01(\x01H\x02\x88\x01\x01\x42\x04\n\x02_xB\x04\n\x02_yB\x08\n\x06_theta\"\xf0\x01\n\x04Mat3\x12\x10\n\x03m00\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x10\n\x03m01\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x10\n\x03m02\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12\x10\n\x03m10\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12\x10\n\x03m11\x18\x05 \x01(\x01H\x04\x88\x01\x01\x12\x10\n\x03m12\x18\x06 \x01(\x01H\x05\x88\x01\x01\x12\x10\n\x03m20\x18\x07 \x01(\x01H\x06\x88\x01\x01\x12\x10\n\x03m21\x18\x08 \x01(\x01H\x07\x88\x01\x01\x12\x10\n\x03m22\x18\t \x01(\x01H\x08\x88\x01\x01\x42\x06\n\x04_m00B\x06\n\x04_m01B\x06\n\x04_m02B\x06\n\x04_m10B\x06\n\x04_m11B\x06\n\x04_m12B\x06\n\x04_m20B\x06\n\x04_m21B\x06\n\x04_m22\"\xa6\x03\n\x04Mat4\x12\x10\n\x03m00\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12\x10\n\x03m01\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x10\n\x03m02\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12\x10\n\x03m03\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12\x10\n\x03m10\x18\x05 \x01(\x01H\x04\x88\x01\x01\x12\x10\n\x03m11\x18\x06 \x01(\x01H\x05\x88\x01\x01\x12\x10\n\x03m12\x18\x07 \x01(\x01H\x06\x88\x01\x01\x12\x10\n\x03m13\x18\x08 \x01(\x01H\x07\x88\x01\x01\x12\x10\n\x03m20\x18\t \x01(\x01H\x08\x88\x01\x01\x12\x10\n\x03m21\x18\n \x01(\x01H\t\x88\x01\x01\x12\x10\n\x03m22\x18\x0b \x01(\x01H\n\x88\x01\x01\x12\x10\n\x03m23\x18\x0c \x01(\x01H\x0b\x88\x01\x01\x12\x10\n\x03m30\x18\r \x01(\x01H\x0c\x88\x01\x01\x12\x10\n\x03m31\x18\x0e \x01(\x01H\r\x88\x01\x01\x12\x10\n\x03m32\x18\x0f \x01(\x01H\x0e\x88\x01\x01\x12\x10\n\x03m33\x18\x10 \x01(\x01H\x0f\x88\x01\x01\x42\x06\n\x04_m00B\x06\n\x04_m01B\x06\n\x04_m02B\x06\n\x04_m03B\x06\n\x04_m10B\x06\n\x04_m11B\x06\n\x04_m12B\x06\n\x04_m13B\x06\n\x04_m20B\x06\n\x04_m21B\x06\n\x04_m22B\x06\n\x04_m23B\x06\n\x04_m30B\x06\n\x04_m31B\x06\n\x04_m32B\x06\n\x04_m33b\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.common.geometry_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_VEC2']._serialized_start=43
+  _globals['_VEC2']._serialized_end=93
+  _globals['_VEC3']._serialized_start=95
+  _globals['_VEC3']._serialized_end=167
+  _globals['_VEC6']._serialized_start=170
+  _globals['_VEC6']._serialized_end=314
+  _globals['_QUAT']._serialized_start=316
+  _globals['_QUAT']._serialized_end=410
+  _globals['_EULER']._serialized_start=412
+  _globals['_EULER']._serialized_end=491
+  _globals['_POSE3D']._serialized_start=493
+  _globals['_POSE3D']._serialized_end=612
+  _globals['_POSE2D']._serialized_start=614
+  _globals['_POSE2D']._serialized_end=696
+  _globals['_MAT3']._serialized_start=699
+  _globals['_MAT3']._serialized_end=939
+  _globals['_MAT4']._serialized_start=942
+  _globals['_MAT4']._serialized_end=1364
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/common/geometry_pb2.pyi b/src/cmvr/common/geometry_pb2.pyi
new file mode 100644
index 0000000..0606137
--- /dev/null
+++ b/src/cmvr/common/geometry_pb2.pyi
@@ -0,0 +1,140 @@
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class Vec2(_message.Message):
+    __slots__ = ("x", "y")
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    x: float
+    y: float
+    def __init__(self, x: _Optional[float] = ..., y: _Optional[float] = ...) -> None: ...
+
+class Vec3(_message.Message):
+    __slots__ = ("x", "y", "z")
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    Z_FIELD_NUMBER: _ClassVar[int]
+    x: float
+    y: float
+    z: float
+    def __init__(self, x: _Optional[float] = ..., y: _Optional[float] = ..., z: _Optional[float] = ...) -> None: ...
+
+class Vec6(_message.Message):
+    __slots__ = ("x", "y", "z", "rx", "ry", "rz")
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    Z_FIELD_NUMBER: _ClassVar[int]
+    RX_FIELD_NUMBER: _ClassVar[int]
+    RY_FIELD_NUMBER: _ClassVar[int]
+    RZ_FIELD_NUMBER: _ClassVar[int]
+    x: float
+    y: float
+    z: float
+    rx: float
+    ry: float
+    rz: float
+    def __init__(self, x: _Optional[float] = ..., y: _Optional[float] = ..., z: _Optional[float] = ..., rx: _Optional[float] = ..., ry: _Optional[float] = ..., rz: _Optional[float] = ...) -> None: ...
+
+class Quat(_message.Message):
+    __slots__ = ("w", "x", "y", "z")
+    W_FIELD_NUMBER: _ClassVar[int]
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    Z_FIELD_NUMBER: _ClassVar[int]
+    w: float
+    x: float
+    y: float
+    z: float
+    def __init__(self, w: _Optional[float] = ..., x: _Optional[float] = ..., y: _Optional[float] = ..., z: _Optional[float] = ...) -> None: ...
+
+class Euler(_message.Message):
+    __slots__ = ("rx", "ry", "rz")
+    RX_FIELD_NUMBER: _ClassVar[int]
+    RY_FIELD_NUMBER: _ClassVar[int]
+    RZ_FIELD_NUMBER: _ClassVar[int]
+    rx: float
+    ry: float
+    rz: float
+    def __init__(self, rx: _Optional[float] = ..., ry: _Optional[float] = ..., rz: _Optional[float] = ...) -> None: ...
+
+class Pose3d(_message.Message):
+    __slots__ = ("position", "quaternion", "euler")
+    POSITION_FIELD_NUMBER: _ClassVar[int]
+    QUATERNION_FIELD_NUMBER: _ClassVar[int]
+    EULER_FIELD_NUMBER: _ClassVar[int]
+    position: Vec3
+    quaternion: Quat
+    euler: Euler
+    def __init__(self, position: _Optional[_Union[Vec3, _Mapping]] = ..., quaternion: _Optional[_Union[Quat, _Mapping]] = ..., euler: _Optional[_Union[Euler, _Mapping]] = ...) -> None: ...
+
+class Pose2d(_message.Message):
+    __slots__ = ("x", "y", "theta")
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    THETA_FIELD_NUMBER: _ClassVar[int]
+    x: float
+    y: float
+    theta: float
+    def __init__(self, x: _Optional[float] = ..., y: _Optional[float] = ..., theta: _Optional[float] = ...) -> None: ...
+
+class Mat3(_message.Message):
+    __slots__ = ("m00", "m01", "m02", "m10", "m11", "m12", "m20", "m21", "m22")
+    M00_FIELD_NUMBER: _ClassVar[int]
+    M01_FIELD_NUMBER: _ClassVar[int]
+    M02_FIELD_NUMBER: _ClassVar[int]
+    M10_FIELD_NUMBER: _ClassVar[int]
+    M11_FIELD_NUMBER: _ClassVar[int]
+    M12_FIELD_NUMBER: _ClassVar[int]
+    M20_FIELD_NUMBER: _ClassVar[int]
+    M21_FIELD_NUMBER: _ClassVar[int]
+    M22_FIELD_NUMBER: _ClassVar[int]
+    m00: float
+    m01: float
+    m02: float
+    m10: float
+    m11: float
+    m12: float
+    m20: float
+    m21: float
+    m22: float
+    def __init__(self, m00: _Optional[float] = ..., m01: _Optional[float] = ..., m02: _Optional[float] = ..., m10: _Optional[float] = ..., m11: _Optional[float] = ..., m12: _Optional[float] = ..., m20: _Optional[float] = ..., m21: _Optional[float] = ..., m22: _Optional[float] = ...) -> None: ...
+
+class Mat4(_message.Message):
+    __slots__ = ("m00", "m01", "m02", "m03", "m10", "m11", "m12", "m13", "m20", "m21", "m22", "m23", "m30", "m31", "m32", "m33")
+    M00_FIELD_NUMBER: _ClassVar[int]
+    M01_FIELD_NUMBER: _ClassVar[int]
+    M02_FIELD_NUMBER: _ClassVar[int]
+    M03_FIELD_NUMBER: _ClassVar[int]
+    M10_FIELD_NUMBER: _ClassVar[int]
+    M11_FIELD_NUMBER: _ClassVar[int]
+    M12_FIELD_NUMBER: _ClassVar[int]
+    M13_FIELD_NUMBER: _ClassVar[int]
+    M20_FIELD_NUMBER: _ClassVar[int]
+    M21_FIELD_NUMBER: _ClassVar[int]
+    M22_FIELD_NUMBER: _ClassVar[int]
+    M23_FIELD_NUMBER: _ClassVar[int]
+    M30_FIELD_NUMBER: _ClassVar[int]
+    M31_FIELD_NUMBER: _ClassVar[int]
+    M32_FIELD_NUMBER: _ClassVar[int]
+    M33_FIELD_NUMBER: _ClassVar[int]
+    m00: float
+    m01: float
+    m02: float
+    m03: float
+    m10: float
+    m11: float
+    m12: float
+    m13: float
+    m20: float
+    m21: float
+    m22: float
+    m23: float
+    m30: float
+    m31: float
+    m32: float
+    m33: float
+    def __init__(self, m00: _Optional[float] = ..., m01: _Optional[float] = ..., m02: _Optional[float] = ..., m03: _Optional[float] = ..., m10: _Optional[float] = ..., m11: _Optional[float] = ..., m12: _Optional[float] = ..., m13: _Optional[float] = ..., m20: _Optional[float] = ..., m21: _Optional[float] = ..., m22: _Optional[float] = ..., m23: _Optional[float] = ..., m30: _Optional[float] = ..., m31: _Optional[float] = ..., m32: _Optional[float] = ..., m33: _Optional[float] = ...) -> None: ...
diff --git a/src/cmvr/common/geometry_pb2_grpc.py b/src/cmvr/common/geometry_pb2_grpc.py
new file mode 100644
index 0000000..180a532
--- /dev/null
+++ b/src/cmvr/common/geometry_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/common/geometry_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/__pycache__/joint_limits_config_pb2.cpython-310.pyc b/src/cmvr/config/__pycache__/joint_limits_config_pb2.cpython-310.pyc
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diff --git a/src/cmvr/config/agv_config/agv_config_pb2.py b/src/cmvr/config/agv_config/agv_config_pb2.py
new file mode 100644
index 0000000..36e373e
--- /dev/null
+++ b/src/cmvr/config/agv_config/agv_config_pb2.py
@@ -0,0 +1,44 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/agv_config/agv_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/agv_config/agv_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\'cmvr/config/agv_config/agv_config.proto\x12\x0b\x63mvr.config\"3\n\x0bMyAgvConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x0c\n\x04port\x18\x03 \x01(\x05\"\xc7\x03\n\x10Src1100AgvConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x0e\n\x06\x65nable\x18\x03 \x01(\x08\x12\x13\n\x0bport_status\x18\x04 \x01(\x05\x12\x14\n\x0cport_control\x18\x05 \x01(\x05\x12\x10\n\x08port_nav\x18\x06 \x01(\x05\x12\x13\n\x0bport_config\x18\x07 \x01(\x05\x12\x12\n\nport_other\x18\x08 \x01(\x05\x12\x11\n\tport_push\x18\t \x01(\x05\x12\x1a\n\x12\x63onnect_timeout_ms\x18\n \x01(\x05\x12\x17\n\x0frecv_timeout_ms\x18\x0b \x01(\x05\x12\x19\n\x11\x65nable_state_push\x18\x0c \x01(\x08\x12\x1e\n\x16state_push_interval_ms\x18\r \x01(\x05\x12\"\n\x1astate_push_included_fields\x18\x0e \x03(\t\x12\"\n\x1astate_push_excluded_fields\x18\x0f \x03(\t\x12\x19\n\x11\x65nable_map_update\x18\x10 \x01(\x08\x12\x1e\n\x16map_update_interval_ms\x18\x11 \x01(\x05\x12\x1f\n\x17map_update_history_size\x18\x12 \x01(\r\"\x8a\x01\n\x0f\x41GVDeviceConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12*\n\x06my_agv\x18\n \x01(\x0b\x32\x18.cmvr.config.MyAgvConfigH\x00\x12\x34\n\x0bsrc1100_agv\x18\x0b \x01(\x0b\x32\x1d.cmvr.config.Src1100AgvConfigH\x00\x42\t\n\x07\x62\x61\x63kend\"7\n\tAGVConfig\x12*\n\x04\x61gvs\x18\x01 \x03(\x0b\x32\x1c.cmvr.config.AGVDeviceConfig\"4\n\rAGVRootConfig\x12#\n\x03\x61gv\x18\x01 \x01(\x0b\x32\x16.cmvr.config.AGVConfigb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.agv_config.agv_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_MYAGVCONFIG']._serialized_start=56
+  _globals['_MYAGVCONFIG']._serialized_end=107
+  _globals['_SRC1100AGVCONFIG']._serialized_start=110
+  _globals['_SRC1100AGVCONFIG']._serialized_end=565
+  _globals['_AGVDEVICECONFIG']._serialized_start=568
+  _globals['_AGVDEVICECONFIG']._serialized_end=706
+  _globals['_AGVCONFIG']._serialized_start=708
+  _globals['_AGVCONFIG']._serialized_end=763
+  _globals['_AGVROOTCONFIG']._serialized_start=765
+  _globals['_AGVROOTCONFIG']._serialized_end=817
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/agv_config/agv_config_pb2.pyi b/src/cmvr/config/agv_config/agv_config_pb2.pyi
new file mode 100644
index 0000000..b83665f
--- /dev/null
+++ b/src/cmvr/config/agv_config/agv_config_pb2.pyi
@@ -0,0 +1,79 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class MyAgvConfig(_message.Message):
+    __slots__ = ("id", "ip", "port")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    IP_FIELD_NUMBER: _ClassVar[int]
+    PORT_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    ip: str
+    port: int
+    def __init__(self, id: _Optional[str] = ..., ip: _Optional[str] = ..., port: _Optional[int] = ...) -> None: ...
+
+class Src1100AgvConfig(_message.Message):
+    __slots__ = ("id", "ip", "enable", "port_status", "port_control", "port_nav", "port_config", "port_other", "port_push", "connect_timeout_ms", "recv_timeout_ms", "enable_state_push", "state_push_interval_ms", "state_push_included_fields", "state_push_excluded_fields", "enable_map_update", "map_update_interval_ms", "map_update_history_size")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    IP_FIELD_NUMBER: _ClassVar[int]
+    ENABLE_FIELD_NUMBER: _ClassVar[int]
+    PORT_STATUS_FIELD_NUMBER: _ClassVar[int]
+    PORT_CONTROL_FIELD_NUMBER: _ClassVar[int]
+    PORT_NAV_FIELD_NUMBER: _ClassVar[int]
+    PORT_CONFIG_FIELD_NUMBER: _ClassVar[int]
+    PORT_OTHER_FIELD_NUMBER: _ClassVar[int]
+    PORT_PUSH_FIELD_NUMBER: _ClassVar[int]
+    CONNECT_TIMEOUT_MS_FIELD_NUMBER: _ClassVar[int]
+    RECV_TIMEOUT_MS_FIELD_NUMBER: _ClassVar[int]
+    ENABLE_STATE_PUSH_FIELD_NUMBER: _ClassVar[int]
+    STATE_PUSH_INTERVAL_MS_FIELD_NUMBER: _ClassVar[int]
+    STATE_PUSH_INCLUDED_FIELDS_FIELD_NUMBER: _ClassVar[int]
+    STATE_PUSH_EXCLUDED_FIELDS_FIELD_NUMBER: _ClassVar[int]
+    ENABLE_MAP_UPDATE_FIELD_NUMBER: _ClassVar[int]
+    MAP_UPDATE_INTERVAL_MS_FIELD_NUMBER: _ClassVar[int]
+    MAP_UPDATE_HISTORY_SIZE_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    ip: str
+    enable: bool
+    port_status: int
+    port_control: int
+    port_nav: int
+    port_config: int
+    port_other: int
+    port_push: int
+    connect_timeout_ms: int
+    recv_timeout_ms: int
+    enable_state_push: bool
+    state_push_interval_ms: int
+    state_push_included_fields: _containers.RepeatedScalarFieldContainer[str]
+    state_push_excluded_fields: _containers.RepeatedScalarFieldContainer[str]
+    enable_map_update: bool
+    map_update_interval_ms: int
+    map_update_history_size: int
+    def __init__(self, id: _Optional[str] = ..., ip: _Optional[str] = ..., enable: _Optional[bool] = ..., port_status: _Optional[int] = ..., port_control: _Optional[int] = ..., port_nav: _Optional[int] = ..., port_config: _Optional[int] = ..., port_other: _Optional[int] = ..., port_push: _Optional[int] = ..., connect_timeout_ms: _Optional[int] = ..., recv_timeout_ms: _Optional[int] = ..., enable_state_push: _Optional[bool] = ..., state_push_interval_ms: _Optional[int] = ..., state_push_included_fields: _Optional[_Iterable[str]] = ..., state_push_excluded_fields: _Optional[_Iterable[str]] = ..., enable_map_update: _Optional[bool] = ..., map_update_interval_ms: _Optional[int] = ..., map_update_history_size: _Optional[int] = ...) -> None: ...
+
+class AGVDeviceConfig(_message.Message):
+    __slots__ = ("id", "my_agv", "src1100_agv")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    MY_AGV_FIELD_NUMBER: _ClassVar[int]
+    SRC1100_AGV_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    my_agv: MyAgvConfig
+    src1100_agv: Src1100AgvConfig
+    def __init__(self, id: _Optional[str] = ..., my_agv: _Optional[_Union[MyAgvConfig, _Mapping]] = ..., src1100_agv: _Optional[_Union[Src1100AgvConfig, _Mapping]] = ...) -> None: ...
+
+class AGVConfig(_message.Message):
+    __slots__ = ("agvs",)
+    AGVS_FIELD_NUMBER: _ClassVar[int]
+    agvs: _containers.RepeatedCompositeFieldContainer[AGVDeviceConfig]
+    def __init__(self, agvs: _Optional[_Iterable[_Union[AGVDeviceConfig, _Mapping]]] = ...) -> None: ...
+
+class AGVRootConfig(_message.Message):
+    __slots__ = ("agv",)
+    AGV_FIELD_NUMBER: _ClassVar[int]
+    agv: AGVConfig
+    def __init__(self, agv: _Optional[_Union[AGVConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/agv_config/agv_config_pb2_grpc.py b/src/cmvr/config/agv_config/agv_config_pb2_grpc.py
new file mode 100644
index 0000000..18b89e7
--- /dev/null
+++ b/src/cmvr/config/agv_config/agv_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/agv_config/agv_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/arm_config/__pycache__/arm_config_pb2.cpython-310.pyc b/src/cmvr/config/arm_config/__pycache__/arm_config_pb2.cpython-310.pyc
new file mode 100644
index 0000000..081e2b3
Binary files /dev/null and b/src/cmvr/config/arm_config/__pycache__/arm_config_pb2.cpython-310.pyc differ
diff --git a/src/cmvr/config/arm_config/__pycache__/arm_config_pb2.cpython-312.pyc b/src/cmvr/config/arm_config/__pycache__/arm_config_pb2.cpython-312.pyc
new file mode 100644
index 0000000..c897c71
Binary files /dev/null and b/src/cmvr/config/arm_config/__pycache__/arm_config_pb2.cpython-312.pyc differ
diff --git a/src/cmvr/config/arm_config/__pycache__/arm_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/arm_config/__pycache__/arm_config_pb2_grpc.cpython-310.pyc
new file mode 100644
index 0000000..ea2f6c8
Binary files /dev/null and b/src/cmvr/config/arm_config/__pycache__/arm_config_pb2_grpc.cpython-310.pyc differ
diff --git a/src/cmvr/config/arm_config/__pycache__/arm_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/arm_config/__pycache__/arm_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..e0418da
Binary files /dev/null and b/src/cmvr/config/arm_config/__pycache__/arm_config_pb2_grpc.cpython-312.pyc differ
diff --git a/src/cmvr/config/arm_config/arm_config_pb2.py b/src/cmvr/config/arm_config/arm_config_pb2.py
new file mode 100644
index 0000000..c5ec716
--- /dev/null
+++ b/src/cmvr/config/arm_config/arm_config_pb2.py
@@ -0,0 +1,78 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/arm_config/arm_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/arm_config/arm_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.common import geometry_pb2 as cmvr_dot_common_dot_geometry__pb2
+from cmvr.config import joint_limits_config_pb2 as cmvr_dot_config_dot_joint__limits__config__pb2
+from cmvr.config import lawba_ik_config_pb2 as cmvr_dot_config_dot_lawba__ik__config__pb2
+from cmvr.config import pinocchio_dls_ik_config_pb2 as cmvr_dot_config_dot_pinocchio__dls__ik__config__pb2
+from cmvr.config import pinocchio_qp_ik_config_pb2 as cmvr_dot_config_dot_pinocchio__qp__ik__config__pb2
+from cmvr.config import srs_ik_config_pb2 as cmvr_dot_config_dot_srs__ik__config__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\'cmvr/config/arm_config/arm_config.proto\x12\x0b\x63mvr.config\x1a\x1a\x63mvr/common/geometry.proto\x1a%cmvr/config/joint_limits_config.proto\x1a!cmvr/config/lawba_ik_config.proto\x1a)cmvr/config/pinocchio_dls_ik_config.proto\x1a(cmvr/config/pinocchio_qp_ik_config.proto\x1a\x1f\x63mvr/config/srs_ik_config.proto\"\xc1\x01\n\x1aMotorRobotArmBackendConfig\x12\x17\n\x0fmotor_system_id\x18\x02 \x01(\t\x12\x0b\n\x03\x64of\x18\x03 \x01(\x05\x12\x13\n\x0bjoint_names\x18\x04 \x03(\t\x12\x10\n\x08upd_freq\x18\x05 \x01(\x05\x12\x13\n\x0b\x62uffer_size\x18\x06 \x01(\x05\x12\x13\n\x0b\x64\x65\x66\x61ult_vel\x18\x07 \x01(\x01\x12\x13\n\x0b\x64\x65\x66\x61ult_acc\x18\x08 \x01(\x01\x12\x17\n\x0fmotor_group_ids\x18\t \x03(\t\"\xe5\x01\n\x1bVendorRobotArmBackendConfig\x12/\n\x05\x62rand\x18\x01 \x01(\x0e\x32 .cmvr.config.VendorRobotArmBrand\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x0c\n\x04port\x18\x03 \x01(\x05\x12\r\n\x05model\x18\x04 \x01(\t\x12\x0b\n\x03\x64of\x18\x05 \x01(\x05\x12\x13\n\x0bjoint_names\x18\x06 \x03(\t\x12\x12\n\nbase_frame\x18\x07 \x01(\t\x12\x12\n\ntool_frame\x18\x08 \x01(\t\x12\x10\n\x08username\x18\t \x01(\t\x12\x10\n\x08password\x18\n \x01(\t\"s\n\x1bQpJointLimitAvoidanceConfig\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\x12\x14\n\x0cmargin_ratio\x18\x02 \x01(\x01\x12\x0c\n\x04gain\x18\x03 \x01(\x01\x12\x10\n\x08max_push\x18\x04 \x01(\x01\x12\x0e\n\x06weight\x18\x05 \x01(\x01\"\x9f\x02\n\x19\x43\x61rtesianVelocityQpConfig\x12\x34\n\x0cjoint_limits\x18\x01 \x01(\x0b\x32\x1e.cmvr.config.JointLimitsConfig\x12\x30\n\x15twist_tracking_weight\x18\x02 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x1b\n\x13qdot_regularization\x18\x03 \x01(\x01\x12 \n\x18prev_qdot_regularization\x18\x04 \x01(\x01\x12\x12\n\nsolver_eps\x18\x05 \x01(\x01\x12G\n\x15joint_limit_avoidance\x18\x06 \x01(\x0b\x32(.cmvr.config.QpJointLimitAvoidanceConfig\"\xd6\x04\n\x13SpeedLPlannerConfig\x12\x1b\n\x13linear_velocity_max\x18\x01 \x01(\x01\x12\x1f\n\x17linear_acceleration_max\x18\x02 \x01(\x01\x12\x17\n\x0flinear_jerk_max\x18\x03 \x01(\x01\x12\x1c\n\x14\x61ngular_velocity_max\x18\x04 \x01(\x01\x12 \n\x18\x61ngular_acceleration_max\x18\x05 \x01(\x01\x12\x18\n\x10\x61ngular_jerk_max\x18\x06 \x01(\x01\x12\x1e\n\x16joint_acceleration_max\x18\x07 \x03(\x01\x12&\n\x1elinear_target_replan_threshold\x18\x08 \x01(\x01\x12\'\n\x1f\x61ngular_target_replan_threshold\x18\t \x01(\x01\x12$\n\x1clinear_reverse_cos_threshold\x18\n \x01(\x01\x12-\n%linear_reverse_switch_speed_threshold\x18\x0b \x01(\x01\x12&\n\x1enormal_direction_deviation_deg\x18\x0c \x01(\x01\x12$\n\x1cmild_direction_deviation_deg\x18\r \x01(\x01\x12&\n\x1esevere_direction_deviation_deg\x18\x0e \x01(\x01\x12\x1e\n\x16linear_min_speed_ratio\x18\x0f \x01(\x01\x12\x32\n\x02qp\x18\x10 \x01(\x0b\x32&.cmvr.config.CartesianVelocityQpConfig\"\x9f\x01\n!CartesianVelocityControllerConfig\x12\x18\n\x10\x63ontrol_period_s\x18\x01 \x01(\x01\x12\x17\n\x0fstop_twist_norm\x18\x02 \x01(\x01\x12\"\n\x1astop_command_velocity_norm\x18\x03 \x01(\x01\x12#\n\x1bstop_measured_velocity_norm\x18\x04 \x01(\x01\"\x94\x01\n\x1eToppraJointMotionPlannerConfig\x12.\n\tpath_type\x18\x01 \x01(\x0e\x32\x1b.cmvr.config.ToppraPathType\x12\x17\n\x0fsample_period_s\x18\x02 \x01(\x01\x12\x11\n\tgrid_size\x18\x03 \x01(\x05\x12\x16\n\x0ehigh_grid_size\x18\x04 \x01(\x05\"n\n\x0bMoveJConfig\x12R\n\x1btoppra_joint_motion_planner\x18\x01 \x01(\x0b\x32+.cmvr.config.ToppraJointMotionPlannerConfigH\x00\x42\x0b\n\talgorithm\"\x8f\x01\n\x12MoveLPlannerConfig\x12\x17\n\x0fsample_period_s\x18\x01 \x01(\x01\x12\x15\n\rposition_gain\x18\x02 \x01(\x01\x12\x15\n\rrotation_gain\x18\x03 \x01(\x01\x12\x32\n\x02qp\x18\x04 \x01(\x0b\x32&.cmvr.config.CartesianVelocityQpConfig\"\xbf\x01\n\x0bMoveLConfig\x12Q\n&pinocchio_dls_cartesian_motion_planner\x18\x01 \x01(\x0b\x32\x1f.cmvr.config.MoveLPlannerConfigH\x00\x12P\n%pinocchio_qp_cartesian_motion_planner\x18\x02 \x01(\x0b\x32\x1f.cmvr.config.MoveLPlannerConfigH\x00\x42\x0b\n\talgorithm\"~\n\x16SpeedLControllerConfig\x12W\n\x1d\x63\x61rtesian_velocity_controller\x18\x01 \x01(\x0b\x32..cmvr.config.CartesianVelocityControllerConfigH\x00\x42\x0b\n\talgorithm\"\x83\x02\n\x0cSpeedLConfig\x12R\n&pinocchio_dls_cartesian_motion_planner\x18\x01 \x01(\x0b\x32 .cmvr.config.SpeedLPlannerConfigH\x00\x12Q\n%pinocchio_qp_cartesian_motion_planner\x18\x02 \x01(\x0b\x32 .cmvr.config.SpeedLPlannerConfigH\x00\x12?\n\x12speed_l_controller\x18\n \x01(\x0b\x32#.cmvr.config.SpeedLControllerConfigB\x0b\n\talgorithm\"\x96\x02\n\x13\x41rmKinematicsConfig\x12\x44\n\x17pinocchio_dls_ik_solver\x18\n \x01(\x0b\x32!.cmvr.config.PinocchioDlsIKConfigH\x00\x12\x42\n\x16pinocchio_qp_ik_solver\x18\x0b \x01(\x0b\x32 .cmvr.config.PinocchioQpIKConfigH\x00\x12\x31\n\rsrs_ik_solver\x18\x0c \x01(\x0b\x32\x18.cmvr.config.SrsIKConfigH\x00\x12\x35\n\x0flawba_ik_solver\x18\r \x01(\x0b\x32\x1a.cmvr.config.LawbaIKConfigH\x00\x42\x0b\n\talgorithm\"\x97\x01\n\x0f\x41rmMotionConfig\x12(\n\x06move_j\x18\x01 \x01(\x0b\x32\x18.cmvr.config.MoveJConfig\x12(\n\x06move_l\x18\x02 \x01(\x0b\x32\x18.cmvr.config.MoveLConfig\x12*\n\x07speed_l\x18\x04 \x01(\x0b\x32\x19.cmvr.config.SpeedLConfigJ\x04\x08\x03\x10\x04\"\x87\x02\n\x0eRobotArmConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x38\n\x05motor\x18\n \x01(\x0b\x32\'.cmvr.config.MotorRobotArmBackendConfigH\x00\x12:\n\x06vendor\x18\x0b \x01(\x0b\x32(.cmvr.config.VendorRobotArmBackendConfigH\x00\x12\x34\n\nkinematics\x18\x14 \x01(\x0b\x32 .cmvr.config.ArmKinematicsConfig\x12,\n\x06motion\x18\x15 \x01(\x0b\x32\x1c.cmvr.config.ArmMotionConfigB\t\n\x07\x62\x61\x63kendJ\x04\x08\x02\x10\x03\"<\n\tArmConfig\x12/\n\nrobot_arms\x18\x01 \x03(\x0b\x32\x1b.cmvr.config.RobotArmConfig\"4\n\rArmRootConfig\x12#\n\x03\x61rm\x18\x01 \x01(\x0b\x32\x16.cmvr.config.ArmConfig*\xab\x01\n\x0eToppraPathType\x12\x1c\n\x18TOPPRA_PATH_TYPE_UNKNOWN\x10\x00\x12\x1b\n\x17TOPPRA_PATH_TYPE_LINEAR\x10\x01\x12\"\n\x1eTOPPRA_PATH_TYPE_CUBIC_HERMITE\x10\x02\x12\x1c\n\x18TOPPRA_PATH_TYPE_QUINTIC\x10\x03\x12\x1c\n\x18TOPPRA_PATH_TYPE_NATURAL\x10\x04*\x85\x01\n\x13VendorRobotArmBrand\x12\"\n\x1eVENDOR_ROBOT_ARM_BRAND_UNKNOWN\x10\x00\x12#\n\x1fVENDOR_ROBOT_ARM_BRAND_AUBO_ARM\x10\x01\x12%\n!VENDOR_ROBOT_ARM_BRAND_HUAYAN_ARM\x10\x02\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.arm_config.arm_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_TOPPRAPATHTYPE']._serialized_start=3685
+  _globals['_TOPPRAPATHTYPE']._serialized_end=3856
+  _globals['_VENDORROBOTARMBRAND']._serialized_start=3859
+  _globals['_VENDORROBOTARMBRAND']._serialized_end=3992
+  _globals['_MOTORROBOTARMBACKENDCONFIG']._serialized_start=277
+  _globals['_MOTORROBOTARMBACKENDCONFIG']._serialized_end=470
+  _globals['_VENDORROBOTARMBACKENDCONFIG']._serialized_start=473
+  _globals['_VENDORROBOTARMBACKENDCONFIG']._serialized_end=702
+  _globals['_QPJOINTLIMITAVOIDANCECONFIG']._serialized_start=704
+  _globals['_QPJOINTLIMITAVOIDANCECONFIG']._serialized_end=819
+  _globals['_CARTESIANVELOCITYQPCONFIG']._serialized_start=822
+  _globals['_CARTESIANVELOCITYQPCONFIG']._serialized_end=1109
+  _globals['_SPEEDLPLANNERCONFIG']._serialized_start=1112
+  _globals['_SPEEDLPLANNERCONFIG']._serialized_end=1710
+  _globals['_CARTESIANVELOCITYCONTROLLERCONFIG']._serialized_start=1713
+  _globals['_CARTESIANVELOCITYCONTROLLERCONFIG']._serialized_end=1872
+  _globals['_TOPPRAJOINTMOTIONPLANNERCONFIG']._serialized_start=1875
+  _globals['_TOPPRAJOINTMOTIONPLANNERCONFIG']._serialized_end=2023
+  _globals['_MOVEJCONFIG']._serialized_start=2025
+  _globals['_MOVEJCONFIG']._serialized_end=2135
+  _globals['_MOVELPLANNERCONFIG']._serialized_start=2138
+  _globals['_MOVELPLANNERCONFIG']._serialized_end=2281
+  _globals['_MOVELCONFIG']._serialized_start=2284
+  _globals['_MOVELCONFIG']._serialized_end=2475
+  _globals['_SPEEDLCONTROLLERCONFIG']._serialized_start=2477
+  _globals['_SPEEDLCONTROLLERCONFIG']._serialized_end=2603
+  _globals['_SPEEDLCONFIG']._serialized_start=2606
+  _globals['_SPEEDLCONFIG']._serialized_end=2865
+  _globals['_ARMKINEMATICSCONFIG']._serialized_start=2868
+  _globals['_ARMKINEMATICSCONFIG']._serialized_end=3146
+  _globals['_ARMMOTIONCONFIG']._serialized_start=3149
+  _globals['_ARMMOTIONCONFIG']._serialized_end=3300
+  _globals['_ROBOTARMCONFIG']._serialized_start=3303
+  _globals['_ROBOTARMCONFIG']._serialized_end=3566
+  _globals['_ARMCONFIG']._serialized_start=3568
+  _globals['_ARMCONFIG']._serialized_end=3628
+  _globals['_ARMROOTCONFIG']._serialized_start=3630
+  _globals['_ARMROOTCONFIG']._serialized_end=3682
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/arm_config/arm_config_pb2.pyi b/src/cmvr/config/arm_config/arm_config_pb2.pyi
new file mode 100644
index 0000000..b5c4aa8
--- /dev/null
+++ b/src/cmvr/config/arm_config/arm_config_pb2.pyi
@@ -0,0 +1,260 @@
+from cmvr.common import geometry_pb2 as _geometry_pb2
+from cmvr.config import joint_limits_config_pb2 as _joint_limits_config_pb2
+from cmvr.config import lawba_ik_config_pb2 as _lawba_ik_config_pb2
+from cmvr.config import pinocchio_dls_ik_config_pb2 as _pinocchio_dls_ik_config_pb2
+from cmvr.config import pinocchio_qp_ik_config_pb2 as _pinocchio_qp_ik_config_pb2
+from cmvr.config import srs_ik_config_pb2 as _srs_ik_config_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class ToppraPathType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    TOPPRA_PATH_TYPE_UNKNOWN: _ClassVar[ToppraPathType]
+    TOPPRA_PATH_TYPE_LINEAR: _ClassVar[ToppraPathType]
+    TOPPRA_PATH_TYPE_CUBIC_HERMITE: _ClassVar[ToppraPathType]
+    TOPPRA_PATH_TYPE_QUINTIC: _ClassVar[ToppraPathType]
+    TOPPRA_PATH_TYPE_NATURAL: _ClassVar[ToppraPathType]
+
+class VendorRobotArmBrand(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    VENDOR_ROBOT_ARM_BRAND_UNKNOWN: _ClassVar[VendorRobotArmBrand]
+    VENDOR_ROBOT_ARM_BRAND_AUBO_ARM: _ClassVar[VendorRobotArmBrand]
+    VENDOR_ROBOT_ARM_BRAND_HUAYAN_ARM: _ClassVar[VendorRobotArmBrand]
+TOPPRA_PATH_TYPE_UNKNOWN: ToppraPathType
+TOPPRA_PATH_TYPE_LINEAR: ToppraPathType
+TOPPRA_PATH_TYPE_CUBIC_HERMITE: ToppraPathType
+TOPPRA_PATH_TYPE_QUINTIC: ToppraPathType
+TOPPRA_PATH_TYPE_NATURAL: ToppraPathType
+VENDOR_ROBOT_ARM_BRAND_UNKNOWN: VendorRobotArmBrand
+VENDOR_ROBOT_ARM_BRAND_AUBO_ARM: VendorRobotArmBrand
+VENDOR_ROBOT_ARM_BRAND_HUAYAN_ARM: VendorRobotArmBrand
+
+class MotorRobotArmBackendConfig(_message.Message):
+    __slots__ = ("motor_system_id", "dof", "joint_names", "upd_freq", "buffer_size", "default_vel", "default_acc", "motor_group_ids")
+    MOTOR_SYSTEM_ID_FIELD_NUMBER: _ClassVar[int]
+    DOF_FIELD_NUMBER: _ClassVar[int]
+    JOINT_NAMES_FIELD_NUMBER: _ClassVar[int]
+    UPD_FREQ_FIELD_NUMBER: _ClassVar[int]
+    BUFFER_SIZE_FIELD_NUMBER: _ClassVar[int]
+    DEFAULT_VEL_FIELD_NUMBER: _ClassVar[int]
+    DEFAULT_ACC_FIELD_NUMBER: _ClassVar[int]
+    MOTOR_GROUP_IDS_FIELD_NUMBER: _ClassVar[int]
+    motor_system_id: str
+    dof: int
+    joint_names: _containers.RepeatedScalarFieldContainer[str]
+    upd_freq: int
+    buffer_size: int
+    default_vel: float
+    default_acc: float
+    motor_group_ids: _containers.RepeatedScalarFieldContainer[str]
+    def __init__(self, motor_system_id: _Optional[str] = ..., dof: _Optional[int] = ..., joint_names: _Optional[_Iterable[str]] = ..., upd_freq: _Optional[int] = ..., buffer_size: _Optional[int] = ..., default_vel: _Optional[float] = ..., default_acc: _Optional[float] = ..., motor_group_ids: _Optional[_Iterable[str]] = ...) -> None: ...
+
+class VendorRobotArmBackendConfig(_message.Message):
+    __slots__ = ("brand", "ip", "port", "model", "dof", "joint_names", "base_frame", "tool_frame", "username", "password")
+    BRAND_FIELD_NUMBER: _ClassVar[int]
+    IP_FIELD_NUMBER: _ClassVar[int]
+    PORT_FIELD_NUMBER: _ClassVar[int]
+    MODEL_FIELD_NUMBER: _ClassVar[int]
+    DOF_FIELD_NUMBER: _ClassVar[int]
+    JOINT_NAMES_FIELD_NUMBER: _ClassVar[int]
+    BASE_FRAME_FIELD_NUMBER: _ClassVar[int]
+    TOOL_FRAME_FIELD_NUMBER: _ClassVar[int]
+    USERNAME_FIELD_NUMBER: _ClassVar[int]
+    PASSWORD_FIELD_NUMBER: _ClassVar[int]
+    brand: VendorRobotArmBrand
+    ip: str
+    port: int
+    model: str
+    dof: int
+    joint_names: _containers.RepeatedScalarFieldContainer[str]
+    base_frame: str
+    tool_frame: str
+    username: str
+    password: str
+    def __init__(self, brand: _Optional[_Union[VendorRobotArmBrand, str]] = ..., ip: _Optional[str] = ..., port: _Optional[int] = ..., model: _Optional[str] = ..., dof: _Optional[int] = ..., joint_names: _Optional[_Iterable[str]] = ..., base_frame: _Optional[str] = ..., tool_frame: _Optional[str] = ..., username: _Optional[str] = ..., password: _Optional[str] = ...) -> None: ...
+
+class QpJointLimitAvoidanceConfig(_message.Message):
+    __slots__ = ("enable", "margin_ratio", "gain", "max_push", "weight")
+    ENABLE_FIELD_NUMBER: _ClassVar[int]
+    MARGIN_RATIO_FIELD_NUMBER: _ClassVar[int]
+    GAIN_FIELD_NUMBER: _ClassVar[int]
+    MAX_PUSH_FIELD_NUMBER: _ClassVar[int]
+    WEIGHT_FIELD_NUMBER: _ClassVar[int]
+    enable: bool
+    margin_ratio: float
+    gain: float
+    max_push: float
+    weight: float
+    def __init__(self, enable: _Optional[bool] = ..., margin_ratio: _Optional[float] = ..., gain: _Optional[float] = ..., max_push: _Optional[float] = ..., weight: _Optional[float] = ...) -> None: ...
+
+class CartesianVelocityQpConfig(_message.Message):
+    __slots__ = ("joint_limits", "twist_tracking_weight", "qdot_regularization", "prev_qdot_regularization", "solver_eps", "joint_limit_avoidance")
+    JOINT_LIMITS_FIELD_NUMBER: _ClassVar[int]
+    TWIST_TRACKING_WEIGHT_FIELD_NUMBER: _ClassVar[int]
+    QDOT_REGULARIZATION_FIELD_NUMBER: _ClassVar[int]
+    PREV_QDOT_REGULARIZATION_FIELD_NUMBER: _ClassVar[int]
+    SOLVER_EPS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_LIMIT_AVOIDANCE_FIELD_NUMBER: _ClassVar[int]
+    joint_limits: _joint_limits_config_pb2.JointLimitsConfig
+    twist_tracking_weight: _geometry_pb2.Vec6
+    qdot_regularization: float
+    prev_qdot_regularization: float
+    solver_eps: float
+    joint_limit_avoidance: QpJointLimitAvoidanceConfig
+    def __init__(self, joint_limits: _Optional[_Union[_joint_limits_config_pb2.JointLimitsConfig, _Mapping]] = ..., twist_tracking_weight: _Optional[_Union[_geometry_pb2.Vec6, _Mapping]] = ..., qdot_regularization: _Optional[float] = ..., prev_qdot_regularization: _Optional[float] = ..., solver_eps: _Optional[float] = ..., joint_limit_avoidance: _Optional[_Union[QpJointLimitAvoidanceConfig, _Mapping]] = ...) -> None: ...
+
+class SpeedLPlannerConfig(_message.Message):
+    __slots__ = ("linear_velocity_max", "linear_acceleration_max", "linear_jerk_max", "angular_velocity_max", "angular_acceleration_max", "angular_jerk_max", "joint_acceleration_max", "linear_target_replan_threshold", "angular_target_replan_threshold", "linear_reverse_cos_threshold", "linear_reverse_switch_speed_threshold", "normal_direction_deviation_deg", "mild_direction_deviation_deg", "severe_direction_deviation_deg", "linear_min_speed_ratio", "qp")
+    LINEAR_VELOCITY_MAX_FIELD_NUMBER: _ClassVar[int]
+    LINEAR_ACCELERATION_MAX_FIELD_NUMBER: _ClassVar[int]
+    LINEAR_JERK_MAX_FIELD_NUMBER: _ClassVar[int]
+    ANGULAR_VELOCITY_MAX_FIELD_NUMBER: _ClassVar[int]
+    ANGULAR_ACCELERATION_MAX_FIELD_NUMBER: _ClassVar[int]
+    ANGULAR_JERK_MAX_FIELD_NUMBER: _ClassVar[int]
+    JOINT_ACCELERATION_MAX_FIELD_NUMBER: _ClassVar[int]
+    LINEAR_TARGET_REPLAN_THRESHOLD_FIELD_NUMBER: _ClassVar[int]
+    ANGULAR_TARGET_REPLAN_THRESHOLD_FIELD_NUMBER: _ClassVar[int]
+    LINEAR_REVERSE_COS_THRESHOLD_FIELD_NUMBER: _ClassVar[int]
+    LINEAR_REVERSE_SWITCH_SPEED_THRESHOLD_FIELD_NUMBER: _ClassVar[int]
+    NORMAL_DIRECTION_DEVIATION_DEG_FIELD_NUMBER: _ClassVar[int]
+    MILD_DIRECTION_DEVIATION_DEG_FIELD_NUMBER: _ClassVar[int]
+    SEVERE_DIRECTION_DEVIATION_DEG_FIELD_NUMBER: _ClassVar[int]
+    LINEAR_MIN_SPEED_RATIO_FIELD_NUMBER: _ClassVar[int]
+    QP_FIELD_NUMBER: _ClassVar[int]
+    linear_velocity_max: float
+    linear_acceleration_max: float
+    linear_jerk_max: float
+    angular_velocity_max: float
+    angular_acceleration_max: float
+    angular_jerk_max: float
+    joint_acceleration_max: _containers.RepeatedScalarFieldContainer[float]
+    linear_target_replan_threshold: float
+    angular_target_replan_threshold: float
+    linear_reverse_cos_threshold: float
+    linear_reverse_switch_speed_threshold: float
+    normal_direction_deviation_deg: float
+    mild_direction_deviation_deg: float
+    severe_direction_deviation_deg: float
+    linear_min_speed_ratio: float
+    qp: CartesianVelocityQpConfig
+    def __init__(self, linear_velocity_max: _Optional[float] = ..., linear_acceleration_max: _Optional[float] = ..., linear_jerk_max: _Optional[float] = ..., angular_velocity_max: _Optional[float] = ..., angular_acceleration_max: _Optional[float] = ..., angular_jerk_max: _Optional[float] = ..., joint_acceleration_max: _Optional[_Iterable[float]] = ..., linear_target_replan_threshold: _Optional[float] = ..., angular_target_replan_threshold: _Optional[float] = ..., linear_reverse_cos_threshold: _Optional[float] = ..., linear_reverse_switch_speed_threshold: _Optional[float] = ..., normal_direction_deviation_deg: _Optional[float] = ..., mild_direction_deviation_deg: _Optional[float] = ..., severe_direction_deviation_deg: _Optional[float] = ..., linear_min_speed_ratio: _Optional[float] = ..., qp: _Optional[_Union[CartesianVelocityQpConfig, _Mapping]] = ...) -> None: ...
+
+class CartesianVelocityControllerConfig(_message.Message):
+    __slots__ = ("control_period_s", "stop_twist_norm", "stop_command_velocity_norm", "stop_measured_velocity_norm")
+    CONTROL_PERIOD_S_FIELD_NUMBER: _ClassVar[int]
+    STOP_TWIST_NORM_FIELD_NUMBER: _ClassVar[int]
+    STOP_COMMAND_VELOCITY_NORM_FIELD_NUMBER: _ClassVar[int]
+    STOP_MEASURED_VELOCITY_NORM_FIELD_NUMBER: _ClassVar[int]
+    control_period_s: float
+    stop_twist_norm: float
+    stop_command_velocity_norm: float
+    stop_measured_velocity_norm: float
+    def __init__(self, control_period_s: _Optional[float] = ..., stop_twist_norm: _Optional[float] = ..., stop_command_velocity_norm: _Optional[float] = ..., stop_measured_velocity_norm: _Optional[float] = ...) -> None: ...
+
+class ToppraJointMotionPlannerConfig(_message.Message):
+    __slots__ = ("path_type", "sample_period_s", "grid_size", "high_grid_size")
+    PATH_TYPE_FIELD_NUMBER: _ClassVar[int]
+    SAMPLE_PERIOD_S_FIELD_NUMBER: _ClassVar[int]
+    GRID_SIZE_FIELD_NUMBER: _ClassVar[int]
+    HIGH_GRID_SIZE_FIELD_NUMBER: _ClassVar[int]
+    path_type: ToppraPathType
+    sample_period_s: float
+    grid_size: int
+    high_grid_size: int
+    def __init__(self, path_type: _Optional[_Union[ToppraPathType, str]] = ..., sample_period_s: _Optional[float] = ..., grid_size: _Optional[int] = ..., high_grid_size: _Optional[int] = ...) -> None: ...
+
+class MoveJConfig(_message.Message):
+    __slots__ = ("toppra_joint_motion_planner",)
+    TOPPRA_JOINT_MOTION_PLANNER_FIELD_NUMBER: _ClassVar[int]
+    toppra_joint_motion_planner: ToppraJointMotionPlannerConfig
+    def __init__(self, toppra_joint_motion_planner: _Optional[_Union[ToppraJointMotionPlannerConfig, _Mapping]] = ...) -> None: ...
+
+class MoveLPlannerConfig(_message.Message):
+    __slots__ = ("sample_period_s", "position_gain", "rotation_gain", "qp")
+    SAMPLE_PERIOD_S_FIELD_NUMBER: _ClassVar[int]
+    POSITION_GAIN_FIELD_NUMBER: _ClassVar[int]
+    ROTATION_GAIN_FIELD_NUMBER: _ClassVar[int]
+    QP_FIELD_NUMBER: _ClassVar[int]
+    sample_period_s: float
+    position_gain: float
+    rotation_gain: float
+    qp: CartesianVelocityQpConfig
+    def __init__(self, sample_period_s: _Optional[float] = ..., position_gain: _Optional[float] = ..., rotation_gain: _Optional[float] = ..., qp: _Optional[_Union[CartesianVelocityQpConfig, _Mapping]] = ...) -> None: ...
+
+class MoveLConfig(_message.Message):
+    __slots__ = ("pinocchio_dls_cartesian_motion_planner", "pinocchio_qp_cartesian_motion_planner")
+    PINOCCHIO_DLS_CARTESIAN_MOTION_PLANNER_FIELD_NUMBER: _ClassVar[int]
+    PINOCCHIO_QP_CARTESIAN_MOTION_PLANNER_FIELD_NUMBER: _ClassVar[int]
+    pinocchio_dls_cartesian_motion_planner: MoveLPlannerConfig
+    pinocchio_qp_cartesian_motion_planner: MoveLPlannerConfig
+    def __init__(self, pinocchio_dls_cartesian_motion_planner: _Optional[_Union[MoveLPlannerConfig, _Mapping]] = ..., pinocchio_qp_cartesian_motion_planner: _Optional[_Union[MoveLPlannerConfig, _Mapping]] = ...) -> None: ...
+
+class SpeedLControllerConfig(_message.Message):
+    __slots__ = ("cartesian_velocity_controller",)
+    CARTESIAN_VELOCITY_CONTROLLER_FIELD_NUMBER: _ClassVar[int]
+    cartesian_velocity_controller: CartesianVelocityControllerConfig
+    def __init__(self, cartesian_velocity_controller: _Optional[_Union[CartesianVelocityControllerConfig, _Mapping]] = ...) -> None: ...
+
+class SpeedLConfig(_message.Message):
+    __slots__ = ("pinocchio_dls_cartesian_motion_planner", "pinocchio_qp_cartesian_motion_planner", "speed_l_controller")
+    PINOCCHIO_DLS_CARTESIAN_MOTION_PLANNER_FIELD_NUMBER: _ClassVar[int]
+    PINOCCHIO_QP_CARTESIAN_MOTION_PLANNER_FIELD_NUMBER: _ClassVar[int]
+    SPEED_L_CONTROLLER_FIELD_NUMBER: _ClassVar[int]
+    pinocchio_dls_cartesian_motion_planner: SpeedLPlannerConfig
+    pinocchio_qp_cartesian_motion_planner: SpeedLPlannerConfig
+    speed_l_controller: SpeedLControllerConfig
+    def __init__(self, pinocchio_dls_cartesian_motion_planner: _Optional[_Union[SpeedLPlannerConfig, _Mapping]] = ..., pinocchio_qp_cartesian_motion_planner: _Optional[_Union[SpeedLPlannerConfig, _Mapping]] = ..., speed_l_controller: _Optional[_Union[SpeedLControllerConfig, _Mapping]] = ...) -> None: ...
+
+class ArmKinematicsConfig(_message.Message):
+    __slots__ = ("pinocchio_dls_ik_solver", "pinocchio_qp_ik_solver", "srs_ik_solver", "lawba_ik_solver")
+    PINOCCHIO_DLS_IK_SOLVER_FIELD_NUMBER: _ClassVar[int]
+    PINOCCHIO_QP_IK_SOLVER_FIELD_NUMBER: _ClassVar[int]
+    SRS_IK_SOLVER_FIELD_NUMBER: _ClassVar[int]
+    LAWBA_IK_SOLVER_FIELD_NUMBER: _ClassVar[int]
+    pinocchio_dls_ik_solver: _pinocchio_dls_ik_config_pb2.PinocchioDlsIKConfig
+    pinocchio_qp_ik_solver: _pinocchio_qp_ik_config_pb2.PinocchioQpIKConfig
+    srs_ik_solver: _srs_ik_config_pb2.SrsIKConfig
+    lawba_ik_solver: _lawba_ik_config_pb2.LawbaIKConfig
+    def __init__(self, pinocchio_dls_ik_solver: _Optional[_Union[_pinocchio_dls_ik_config_pb2.PinocchioDlsIKConfig, _Mapping]] = ..., pinocchio_qp_ik_solver: _Optional[_Union[_pinocchio_qp_ik_config_pb2.PinocchioQpIKConfig, _Mapping]] = ..., srs_ik_solver: _Optional[_Union[_srs_ik_config_pb2.SrsIKConfig, _Mapping]] = ..., lawba_ik_solver: _Optional[_Union[_lawba_ik_config_pb2.LawbaIKConfig, _Mapping]] = ...) -> None: ...
+
+class ArmMotionConfig(_message.Message):
+    __slots__ = ("move_j", "move_l", "speed_l")
+    MOVE_J_FIELD_NUMBER: _ClassVar[int]
+    MOVE_L_FIELD_NUMBER: _ClassVar[int]
+    SPEED_L_FIELD_NUMBER: _ClassVar[int]
+    move_j: MoveJConfig
+    move_l: MoveLConfig
+    speed_l: SpeedLConfig
+    def __init__(self, move_j: _Optional[_Union[MoveJConfig, _Mapping]] = ..., move_l: _Optional[_Union[MoveLConfig, _Mapping]] = ..., speed_l: _Optional[_Union[SpeedLConfig, _Mapping]] = ...) -> None: ...
+
+class RobotArmConfig(_message.Message):
+    __slots__ = ("id", "motor", "vendor", "kinematics", "motion")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    MOTOR_FIELD_NUMBER: _ClassVar[int]
+    VENDOR_FIELD_NUMBER: _ClassVar[int]
+    KINEMATICS_FIELD_NUMBER: _ClassVar[int]
+    MOTION_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    motor: MotorRobotArmBackendConfig
+    vendor: VendorRobotArmBackendConfig
+    kinematics: ArmKinematicsConfig
+    motion: ArmMotionConfig
+    def __init__(self, id: _Optional[str] = ..., motor: _Optional[_Union[MotorRobotArmBackendConfig, _Mapping]] = ..., vendor: _Optional[_Union[VendorRobotArmBackendConfig, _Mapping]] = ..., kinematics: _Optional[_Union[ArmKinematicsConfig, _Mapping]] = ..., motion: _Optional[_Union[ArmMotionConfig, _Mapping]] = ...) -> None: ...
+
+class ArmConfig(_message.Message):
+    __slots__ = ("robot_arms",)
+    ROBOT_ARMS_FIELD_NUMBER: _ClassVar[int]
+    robot_arms: _containers.RepeatedCompositeFieldContainer[RobotArmConfig]
+    def __init__(self, robot_arms: _Optional[_Iterable[_Union[RobotArmConfig, _Mapping]]] = ...) -> None: ...
+
+class ArmRootConfig(_message.Message):
+    __slots__ = ("arm",)
+    ARM_FIELD_NUMBER: _ClassVar[int]
+    arm: ArmConfig
+    def __init__(self, arm: _Optional[_Union[ArmConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/arm_config/arm_config_pb2_grpc.py b/src/cmvr/config/arm_config/arm_config_pb2_grpc.py
new file mode 100644
index 0000000..e75605d
--- /dev/null
+++ b/src/cmvr/config/arm_config/arm_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/arm_config/arm_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/aubo_robot_config/__pycache__/aubo_robot_config_pb2.cpython-310.pyc b/src/cmvr/config/aubo_robot_config/__pycache__/aubo_robot_config_pb2.cpython-310.pyc
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diff --git a/src/cmvr/config/aubo_robot_config/__pycache__/aubo_robot_config_pb2.cpython-312.pyc b/src/cmvr/config/aubo_robot_config/__pycache__/aubo_robot_config_pb2.cpython-312.pyc
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diff --git a/src/cmvr/config/aubo_robot_config/__pycache__/aubo_robot_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/aubo_robot_config/__pycache__/aubo_robot_config_pb2_grpc.cpython-310.pyc
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diff --git a/src/cmvr/config/aubo_robot_config/__pycache__/aubo_robot_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/aubo_robot_config/__pycache__/aubo_robot_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..7a7aa1a
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diff --git a/src/cmvr/config/aubo_robot_config/aubo_robot_config_pb2.py b/src/cmvr/config/aubo_robot_config/aubo_robot_config_pb2.py
new file mode 100644
index 0000000..6816aa9
--- /dev/null
+++ b/src/cmvr/config/aubo_robot_config/aubo_robot_config_pb2.py
@@ -0,0 +1,36 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/aubo_robot_config/aubo_robot_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/aubo_robot_config/aubo_robot_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n5cmvr/config/aubo_robot_config/aubo_robot_config.proto\x12\x0b\x63mvr.config\"[\n\x0f\x41uboRobotConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x0c\n\x04port\x18\x03 \x01(\x05\x12\x10\n\x08username\x18\x04 \x01(\t\x12\x10\n\x08password\x18\x05 \x01(\tb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.aubo_robot_config.aubo_robot_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_AUBOROBOTCONFIG']._serialized_start=70
+  _globals['_AUBOROBOTCONFIG']._serialized_end=161
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/aubo_robot_config/aubo_robot_config_pb2.pyi b/src/cmvr/config/aubo_robot_config/aubo_robot_config_pb2.pyi
new file mode 100644
index 0000000..10d0a6f
--- /dev/null
+++ b/src/cmvr/config/aubo_robot_config/aubo_robot_config_pb2.pyi
@@ -0,0 +1,19 @@
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from typing import ClassVar as _ClassVar, Optional as _Optional
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class AuboRobotConfig(_message.Message):
+    __slots__ = ("id", "ip", "port", "username", "password")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    IP_FIELD_NUMBER: _ClassVar[int]
+    PORT_FIELD_NUMBER: _ClassVar[int]
+    USERNAME_FIELD_NUMBER: _ClassVar[int]
+    PASSWORD_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    ip: str
+    port: int
+    username: str
+    password: str
+    def __init__(self, id: _Optional[str] = ..., ip: _Optional[str] = ..., port: _Optional[int] = ..., username: _Optional[str] = ..., password: _Optional[str] = ...) -> None: ...
diff --git a/src/cmvr/config/aubo_robot_config/aubo_robot_config_pb2_grpc.py b/src/cmvr/config/aubo_robot_config/aubo_robot_config_pb2_grpc.py
new file mode 100644
index 0000000..390b828
--- /dev/null
+++ b/src/cmvr/config/aubo_robot_config/aubo_robot_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/aubo_robot_config/aubo_robot_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/biohead_config/__pycache__/biohead_config_pb2.cpython-310.pyc b/src/cmvr/config/biohead_config/__pycache__/biohead_config_pb2.cpython-310.pyc
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diff --git a/src/cmvr/config/biohead_config/__pycache__/biohead_config_pb2.cpython-312.pyc b/src/cmvr/config/biohead_config/__pycache__/biohead_config_pb2.cpython-312.pyc
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index 0000000..fc23359
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diff --git a/src/cmvr/config/biohead_config/__pycache__/biohead_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/biohead_config/__pycache__/biohead_config_pb2_grpc.cpython-310.pyc
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index 0000000..c51de0e
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diff --git a/src/cmvr/config/biohead_config/__pycache__/biohead_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/biohead_config/__pycache__/biohead_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..0267183
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diff --git a/src/cmvr/config/biohead_config/biohead_config_pb2.py b/src/cmvr/config/biohead_config/biohead_config_pb2.py
new file mode 100644
index 0000000..d39c9de
--- /dev/null
+++ b/src/cmvr/config/biohead_config/biohead_config_pb2.py
@@ -0,0 +1,40 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/biohead_config/biohead_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/biohead_config/biohead_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/biohead_config/biohead_config.proto\x12\x0b\x63mvr.config\"\x9c\x01\n\x17\x42ioHeadServoGroupConfig\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x0f\n\x07\x61\x64\x64ress\x18\x02 \x01(\x05\x12\x15\n\rchannel_start\x18\x03 \x01(\x05\x12\x13\n\x0b\x63hannel_end\x18\x04 \x01(\x05\x12\x0e\n\x06offset\x18\x05 \x03(\x01\x12\x12\n\nmin_angles\x18\x06 \x03(\x01\x12\x12\n\nmax_angles\x18\x07 \x03(\x01\"\x84\x01\n\x12\x42ioHeadRobotConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x13\n\x0bserial_port\x18\x02 \x01(\t\x12\x11\n\tbaud_rate\x18\x03 \x01(\x05\x12:\n\x0cservo_groups\x18\x04 \x03(\x0b\x32$.cmvr.config.BioHeadServoGroupConfig\"K\n\x16\x42ioHeadRobotRootConfig\x12\x31\n\x08\x62io_head\x18\x01 \x01(\x0b\x32\x1f.cmvr.config.BioHeadRobotConfigb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.biohead_config.biohead_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_BIOHEADSERVOGROUPCONFIG']._serialized_start=65
+  _globals['_BIOHEADSERVOGROUPCONFIG']._serialized_end=221
+  _globals['_BIOHEADROBOTCONFIG']._serialized_start=224
+  _globals['_BIOHEADROBOTCONFIG']._serialized_end=356
+  _globals['_BIOHEADROBOTROOTCONFIG']._serialized_start=358
+  _globals['_BIOHEADROBOTROOTCONFIG']._serialized_end=433
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/biohead_config/biohead_config_pb2.pyi b/src/cmvr/config/biohead_config/biohead_config_pb2.pyi
new file mode 100644
index 0000000..34787c3
--- /dev/null
+++ b/src/cmvr/config/biohead_config/biohead_config_pb2.pyi
@@ -0,0 +1,43 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class BioHeadServoGroupConfig(_message.Message):
+    __slots__ = ("name", "address", "channel_start", "channel_end", "offset", "min_angles", "max_angles")
+    NAME_FIELD_NUMBER: _ClassVar[int]
+    ADDRESS_FIELD_NUMBER: _ClassVar[int]
+    CHANNEL_START_FIELD_NUMBER: _ClassVar[int]
+    CHANNEL_END_FIELD_NUMBER: _ClassVar[int]
+    OFFSET_FIELD_NUMBER: _ClassVar[int]
+    MIN_ANGLES_FIELD_NUMBER: _ClassVar[int]
+    MAX_ANGLES_FIELD_NUMBER: _ClassVar[int]
+    name: str
+    address: int
+    channel_start: int
+    channel_end: int
+    offset: _containers.RepeatedScalarFieldContainer[float]
+    min_angles: _containers.RepeatedScalarFieldContainer[float]
+    max_angles: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, name: _Optional[str] = ..., address: _Optional[int] = ..., channel_start: _Optional[int] = ..., channel_end: _Optional[int] = ..., offset: _Optional[_Iterable[float]] = ..., min_angles: _Optional[_Iterable[float]] = ..., max_angles: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class BioHeadRobotConfig(_message.Message):
+    __slots__ = ("id", "serial_port", "baud_rate", "servo_groups")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    SERIAL_PORT_FIELD_NUMBER: _ClassVar[int]
+    BAUD_RATE_FIELD_NUMBER: _ClassVar[int]
+    SERVO_GROUPS_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    serial_port: str
+    baud_rate: int
+    servo_groups: _containers.RepeatedCompositeFieldContainer[BioHeadServoGroupConfig]
+    def __init__(self, id: _Optional[str] = ..., serial_port: _Optional[str] = ..., baud_rate: _Optional[int] = ..., servo_groups: _Optional[_Iterable[_Union[BioHeadServoGroupConfig, _Mapping]]] = ...) -> None: ...
+
+class BioHeadRobotRootConfig(_message.Message):
+    __slots__ = ("bio_head",)
+    BIO_HEAD_FIELD_NUMBER: _ClassVar[int]
+    bio_head: BioHeadRobotConfig
+    def __init__(self, bio_head: _Optional[_Union[BioHeadRobotConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/biohead_config/biohead_config_pb2_grpc.py b/src/cmvr/config/biohead_config/biohead_config_pb2_grpc.py
new file mode 100644
index 0000000..4bc14cb
--- /dev/null
+++ b/src/cmvr/config/biohead_config/biohead_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/biohead_config/biohead_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/camera_config/__pycache__/camera_config_pb2.cpython-310.pyc b/src/cmvr/config/camera_config/__pycache__/camera_config_pb2.cpython-310.pyc
new file mode 100644
index 0000000..d17b87f
Binary files /dev/null and b/src/cmvr/config/camera_config/__pycache__/camera_config_pb2.cpython-310.pyc differ
diff --git a/src/cmvr/config/camera_config/__pycache__/camera_config_pb2.cpython-312.pyc b/src/cmvr/config/camera_config/__pycache__/camera_config_pb2.cpython-312.pyc
new file mode 100644
index 0000000..233c6cc
Binary files /dev/null and b/src/cmvr/config/camera_config/__pycache__/camera_config_pb2.cpython-312.pyc differ
diff --git a/src/cmvr/config/camera_config/__pycache__/camera_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/camera_config/__pycache__/camera_config_pb2_grpc.cpython-310.pyc
new file mode 100644
index 0000000..4b25031
Binary files /dev/null and b/src/cmvr/config/camera_config/__pycache__/camera_config_pb2_grpc.cpython-310.pyc differ
diff --git a/src/cmvr/config/camera_config/__pycache__/camera_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/camera_config/__pycache__/camera_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..80e1bd5
Binary files /dev/null and b/src/cmvr/config/camera_config/__pycache__/camera_config_pb2_grpc.cpython-312.pyc differ
diff --git a/src/cmvr/config/camera_config/camera_config_pb2.py b/src/cmvr/config/camera_config/camera_config_pb2.py
new file mode 100644
index 0000000..ae2aa4e
--- /dev/null
+++ b/src/cmvr/config/camera_config/camera_config_pb2.py
@@ -0,0 +1,52 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/camera_config/camera_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/camera_config/camera_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n-cmvr/config/camera_config/camera_config.proto\x12\x0b\x63mvr.config\"\xd2\x02\n\x15RealSenseCameraConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x14\n\x0cserialNumber\x18\x02 \x01(\t\x12\r\n\x05width\x18\x03 \x01(\x05\x12\x0e\n\x06height\x18\x04 \x01(\x05\x12\x0b\n\x03\x66ps\x18\x05 \x01(\x05\x12\r\n\x05\x63odec\x18\x06 \x01(\t\x12,\n\x0b\x63\x61mera_mode\x18\x07 \x01(\x0e\x32\x17.cmvr.config.CameraMode\x12,\n\x0bstream_mode\x18\x08 \x01(\x0e\x32\x17.cmvr.config.StreamMode\x12*\n\nalign_mode\x18\t \x01(\x0e\x32\x16.cmvr.config.AlignMode\x12\x13\n\x0b\x62uffer_size\x18\n \x01(\x05\x12\x0c\n\x04sync\x18\x0b \x01(\x08\x12\x14\n\x0c\x65ncode_width\x18\r \x01(\x05\x12\x15\n\rencode_height\x18\x0e \x01(\x05J\x04\x08\x0c\x10\r\"\x89\x02\n\x0fUVCCameraConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x0b\n\x03usb\x18\x02 \x01(\t\x12\r\n\x05width\x18\x03 \x01(\x05\x12\x0e\n\x06height\x18\x04 \x01(\x05\x12\x0b\n\x03\x66ps\x18\x05 \x01(\x05\x12\r\n\x05\x63odec\x18\x06 \x01(\t\x12,\n\x0b\x63\x61mera_mode\x18\x07 \x01(\x0e\x32\x17.cmvr.config.CameraMode\x12,\n\x0bstream_mode\x18\x08 \x01(\x0e\x32\x17.cmvr.config.StreamMode\x12\x13\n\x0b\x62uffer_size\x18\t \x01(\x05\x12\x14\n\x0c\x65ncode_width\x18\x0b \x01(\x05\x12\x15\n\rencode_height\x18\x0c \x01(\x05J\x04\x08\n\x10\x0b\"h\n\x14MechMindCameraConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x12\n\x05\x61lign\x18\x03 \x01(\x08H\x00\x88\x01\x01\x12\x14\n\x0cimage2d_type\x18\x04 \x01(\tB\x08\n\x06_alignJ\x04\x08\x05\x10\x06\"\xce\x01\n\x12\x43\x61meraDeviceConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12+\n\x03uvc\x18\n \x01(\x0b\x32\x1c.cmvr.config.UVCCameraConfigH\x00\x12\x37\n\trealsense\x18\x0b \x01(\x0b\x32\".cmvr.config.RealSenseCameraConfigH\x00\x12\x35\n\x08mechmind\x18\x0c \x01(\x0b\x32!.cmvr.config.MechMindCameraConfigH\x00\x42\t\n\x07\x62\x61\x63kendJ\x04\x08\x02\x10\x03\"@\n\x0c\x43\x61meraConfig\x12\x30\n\x07\x63\x61meras\x18\x01 \x03(\x0b\x32\x1f.cmvr.config.CameraDeviceConfig\"=\n\x10\x43\x61meraRootConfig\x12)\n\x06\x63\x61mera\x18\x01 \x01(\x0b\x32\x19.cmvr.config.CameraConfig*:\n\nCameraMode\x12\x15\n\x11\x43\x41MERA_MODE_PHOTO\x10\x00\x12\x15\n\x11\x43\x41MERA_MODE_VIDEO\x10\x01*N\n\nStreamMode\x12\x13\n\x0fSTREAM_MODE_RGB\x10\x00\x12\x14\n\x10STREAM_MODE_RGBD\x10\x01\x12\x15\n\x11STREAM_MODE_DEPTH\x10\x02*7\n\tAlignMode\x12\x14\n\x10\x41LIGN_MODE_COLOR\x10\x00\x12\x14\n\x10\x41LIGN_MODE_DEPTH\x10\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.camera_config.camera_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_CAMERAMODE']._serialized_start=1115
+  _globals['_CAMERAMODE']._serialized_end=1173
+  _globals['_STREAMMODE']._serialized_start=1175
+  _globals['_STREAMMODE']._serialized_end=1253
+  _globals['_ALIGNMODE']._serialized_start=1255
+  _globals['_ALIGNMODE']._serialized_end=1310
+  _globals['_REALSENSECAMERACONFIG']._serialized_start=63
+  _globals['_REALSENSECAMERACONFIG']._serialized_end=401
+  _globals['_UVCCAMERACONFIG']._serialized_start=404
+  _globals['_UVCCAMERACONFIG']._serialized_end=669
+  _globals['_MECHMINDCAMERACONFIG']._serialized_start=671
+  _globals['_MECHMINDCAMERACONFIG']._serialized_end=775
+  _globals['_CAMERADEVICECONFIG']._serialized_start=778
+  _globals['_CAMERADEVICECONFIG']._serialized_end=984
+  _globals['_CAMERACONFIG']._serialized_start=986
+  _globals['_CAMERACONFIG']._serialized_end=1050
+  _globals['_CAMERAROOTCONFIG']._serialized_start=1052
+  _globals['_CAMERAROOTCONFIG']._serialized_end=1113
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/camera_config/camera_config_pb2.pyi b/src/cmvr/config/camera_config/camera_config_pb2.pyi
new file mode 100644
index 0000000..96d41b9
--- /dev/null
+++ b/src/cmvr/config/camera_config/camera_config_pb2.pyi
@@ -0,0 +1,123 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class CameraMode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    CAMERA_MODE_PHOTO: _ClassVar[CameraMode]
+    CAMERA_MODE_VIDEO: _ClassVar[CameraMode]
+
+class StreamMode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    STREAM_MODE_RGB: _ClassVar[StreamMode]
+    STREAM_MODE_RGBD: _ClassVar[StreamMode]
+    STREAM_MODE_DEPTH: _ClassVar[StreamMode]
+
+class AlignMode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    ALIGN_MODE_COLOR: _ClassVar[AlignMode]
+    ALIGN_MODE_DEPTH: _ClassVar[AlignMode]
+CAMERA_MODE_PHOTO: CameraMode
+CAMERA_MODE_VIDEO: CameraMode
+STREAM_MODE_RGB: StreamMode
+STREAM_MODE_RGBD: StreamMode
+STREAM_MODE_DEPTH: StreamMode
+ALIGN_MODE_COLOR: AlignMode
+ALIGN_MODE_DEPTH: AlignMode
+
+class RealSenseCameraConfig(_message.Message):
+    __slots__ = ("id", "serialNumber", "width", "height", "fps", "codec", "camera_mode", "stream_mode", "align_mode", "buffer_size", "sync", "encode_width", "encode_height")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    SERIALNUMBER_FIELD_NUMBER: _ClassVar[int]
+    WIDTH_FIELD_NUMBER: _ClassVar[int]
+    HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    FPS_FIELD_NUMBER: _ClassVar[int]
+    CODEC_FIELD_NUMBER: _ClassVar[int]
+    CAMERA_MODE_FIELD_NUMBER: _ClassVar[int]
+    STREAM_MODE_FIELD_NUMBER: _ClassVar[int]
+    ALIGN_MODE_FIELD_NUMBER: _ClassVar[int]
+    BUFFER_SIZE_FIELD_NUMBER: _ClassVar[int]
+    SYNC_FIELD_NUMBER: _ClassVar[int]
+    ENCODE_WIDTH_FIELD_NUMBER: _ClassVar[int]
+    ENCODE_HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    serialNumber: str
+    width: int
+    height: int
+    fps: int
+    codec: str
+    camera_mode: CameraMode
+    stream_mode: StreamMode
+    align_mode: AlignMode
+    buffer_size: int
+    sync: bool
+    encode_width: int
+    encode_height: int
+    def __init__(self, id: _Optional[str] = ..., serialNumber: _Optional[str] = ..., width: _Optional[int] = ..., height: _Optional[int] = ..., fps: _Optional[int] = ..., codec: _Optional[str] = ..., camera_mode: _Optional[_Union[CameraMode, str]] = ..., stream_mode: _Optional[_Union[StreamMode, str]] = ..., align_mode: _Optional[_Union[AlignMode, str]] = ..., buffer_size: _Optional[int] = ..., sync: _Optional[bool] = ..., encode_width: _Optional[int] = ..., encode_height: _Optional[int] = ...) -> None: ...
+
+class UVCCameraConfig(_message.Message):
+    __slots__ = ("id", "usb", "width", "height", "fps", "codec", "camera_mode", "stream_mode", "buffer_size", "encode_width", "encode_height")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    USB_FIELD_NUMBER: _ClassVar[int]
+    WIDTH_FIELD_NUMBER: _ClassVar[int]
+    HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    FPS_FIELD_NUMBER: _ClassVar[int]
+    CODEC_FIELD_NUMBER: _ClassVar[int]
+    CAMERA_MODE_FIELD_NUMBER: _ClassVar[int]
+    STREAM_MODE_FIELD_NUMBER: _ClassVar[int]
+    BUFFER_SIZE_FIELD_NUMBER: _ClassVar[int]
+    ENCODE_WIDTH_FIELD_NUMBER: _ClassVar[int]
+    ENCODE_HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    usb: str
+    width: int
+    height: int
+    fps: int
+    codec: str
+    camera_mode: CameraMode
+    stream_mode: StreamMode
+    buffer_size: int
+    encode_width: int
+    encode_height: int
+    def __init__(self, id: _Optional[str] = ..., usb: _Optional[str] = ..., width: _Optional[int] = ..., height: _Optional[int] = ..., fps: _Optional[int] = ..., codec: _Optional[str] = ..., camera_mode: _Optional[_Union[CameraMode, str]] = ..., stream_mode: _Optional[_Union[StreamMode, str]] = ..., buffer_size: _Optional[int] = ..., encode_width: _Optional[int] = ..., encode_height: _Optional[int] = ...) -> None: ...
+
+class MechMindCameraConfig(_message.Message):
+    __slots__ = ("id", "ip", "align", "image2d_type")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    IP_FIELD_NUMBER: _ClassVar[int]
+    ALIGN_FIELD_NUMBER: _ClassVar[int]
+    IMAGE2D_TYPE_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    ip: str
+    align: bool
+    image2d_type: str
+    def __init__(self, id: _Optional[str] = ..., ip: _Optional[str] = ..., align: _Optional[bool] = ..., image2d_type: _Optional[str] = ...) -> None: ...
+
+class CameraDeviceConfig(_message.Message):
+    __slots__ = ("id", "uvc", "realsense", "mechmind")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    UVC_FIELD_NUMBER: _ClassVar[int]
+    REALSENSE_FIELD_NUMBER: _ClassVar[int]
+    MECHMIND_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    uvc: UVCCameraConfig
+    realsense: RealSenseCameraConfig
+    mechmind: MechMindCameraConfig
+    def __init__(self, id: _Optional[str] = ..., uvc: _Optional[_Union[UVCCameraConfig, _Mapping]] = ..., realsense: _Optional[_Union[RealSenseCameraConfig, _Mapping]] = ..., mechmind: _Optional[_Union[MechMindCameraConfig, _Mapping]] = ...) -> None: ...
+
+class CameraConfig(_message.Message):
+    __slots__ = ("cameras",)
+    CAMERAS_FIELD_NUMBER: _ClassVar[int]
+    cameras: _containers.RepeatedCompositeFieldContainer[CameraDeviceConfig]
+    def __init__(self, cameras: _Optional[_Iterable[_Union[CameraDeviceConfig, _Mapping]]] = ...) -> None: ...
+
+class CameraRootConfig(_message.Message):
+    __slots__ = ("camera",)
+    CAMERA_FIELD_NUMBER: _ClassVar[int]
+    camera: CameraConfig
+    def __init__(self, camera: _Optional[_Union[CameraConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/camera_config/camera_config_pb2_grpc.py b/src/cmvr/config/camera_config/camera_config_pb2_grpc.py
new file mode 100644
index 0000000..f9f5ad4
--- /dev/null
+++ b/src/cmvr/config/camera_config/camera_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/camera_config/camera_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/cmvr_es_config/__pycache__/cmvr_es_config_pb2.cpython-310.pyc b/src/cmvr/config/cmvr_es_config/__pycache__/cmvr_es_config_pb2.cpython-310.pyc
new file mode 100644
index 0000000..22266c8
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diff --git a/src/cmvr/config/cmvr_es_config/__pycache__/cmvr_es_config_pb2.cpython-312.pyc b/src/cmvr/config/cmvr_es_config/__pycache__/cmvr_es_config_pb2.cpython-312.pyc
new file mode 100644
index 0000000..0f81662
Binary files /dev/null and b/src/cmvr/config/cmvr_es_config/__pycache__/cmvr_es_config_pb2.cpython-312.pyc differ
diff --git a/src/cmvr/config/cmvr_es_config/__pycache__/cmvr_es_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/cmvr_es_config/__pycache__/cmvr_es_config_pb2_grpc.cpython-310.pyc
new file mode 100644
index 0000000..1d5bcb8
Binary files /dev/null and b/src/cmvr/config/cmvr_es_config/__pycache__/cmvr_es_config_pb2_grpc.cpython-310.pyc differ
diff --git a/src/cmvr/config/cmvr_es_config/__pycache__/cmvr_es_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/cmvr_es_config/__pycache__/cmvr_es_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..907b13d
Binary files /dev/null and b/src/cmvr/config/cmvr_es_config/__pycache__/cmvr_es_config_pb2_grpc.cpython-312.pyc differ
diff --git a/src/cmvr/config/cmvr_es_config/cmvr_es_config_pb2.py b/src/cmvr/config/cmvr_es_config/cmvr_es_config_pb2.py
new file mode 100644
index 0000000..d357f3a
--- /dev/null
+++ b/src/cmvr/config/cmvr_es_config/cmvr_es_config_pb2.py
@@ -0,0 +1,38 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/cmvr_es_config/cmvr_es_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/cmvr_es_config/cmvr_es_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/cmvr_es_config/cmvr_es_config.proto\x12\x0b\x63mvr.config\"\x9d\x01\n\x0c\x43MVRESConfig\x12\x1a\n\x12logger_config_file\x18\x01 \x01(\t\x12\"\n\x1a\x64\x65vice_manager_config_file\x18\x02 \x01(\t\x12 \n\x18task_manager_config_file\x18\x04 \x01(\t\x12\x1f\n\x17grpc_server_config_file\x18\x06 \x01(\tJ\x04\x08\x03\x10\x04J\x04\x08\x05\x10\x06\">\n\x10\x43MVRESRootConfig\x12*\n\x07\x63mvr_es\x18\x01 \x01(\x0b\x32\x19.cmvr.config.CMVRESConfigb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.cmvr_es_config.cmvr_es_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_CMVRESCONFIG']._serialized_start=65
+  _globals['_CMVRESCONFIG']._serialized_end=222
+  _globals['_CMVRESROOTCONFIG']._serialized_start=224
+  _globals['_CMVRESROOTCONFIG']._serialized_end=286
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/cmvr_es_config/cmvr_es_config_pb2.pyi b/src/cmvr/config/cmvr_es_config/cmvr_es_config_pb2.pyi
new file mode 100644
index 0000000..ce0019e
--- /dev/null
+++ b/src/cmvr/config/cmvr_es_config/cmvr_es_config_pb2.pyi
@@ -0,0 +1,24 @@
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class CMVRESConfig(_message.Message):
+    __slots__ = ("logger_config_file", "device_manager_config_file", "task_manager_config_file", "grpc_server_config_file")
+    LOGGER_CONFIG_FILE_FIELD_NUMBER: _ClassVar[int]
+    DEVICE_MANAGER_CONFIG_FILE_FIELD_NUMBER: _ClassVar[int]
+    TASK_MANAGER_CONFIG_FILE_FIELD_NUMBER: _ClassVar[int]
+    GRPC_SERVER_CONFIG_FILE_FIELD_NUMBER: _ClassVar[int]
+    logger_config_file: str
+    device_manager_config_file: str
+    task_manager_config_file: str
+    grpc_server_config_file: str
+    def __init__(self, logger_config_file: _Optional[str] = ..., device_manager_config_file: _Optional[str] = ..., task_manager_config_file: _Optional[str] = ..., grpc_server_config_file: _Optional[str] = ...) -> None: ...
+
+class CMVRESRootConfig(_message.Message):
+    __slots__ = ("cmvr_es",)
+    CMVR_ES_FIELD_NUMBER: _ClassVar[int]
+    cmvr_es: CMVRESConfig
+    def __init__(self, cmvr_es: _Optional[_Union[CMVRESConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/cmvr_es_config/cmvr_es_config_pb2_grpc.py b/src/cmvr/config/cmvr_es_config/cmvr_es_config_pb2_grpc.py
new file mode 100644
index 0000000..05e5367
--- /dev/null
+++ b/src/cmvr/config/cmvr_es_config/cmvr_es_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/cmvr_es_config/cmvr_es_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/device_manager_config/__pycache__/device_manager_config_pb2.cpython-310.pyc b/src/cmvr/config/device_manager_config/__pycache__/device_manager_config_pb2.cpython-310.pyc
new file mode 100644
index 0000000..b528c6d
Binary files /dev/null and b/src/cmvr/config/device_manager_config/__pycache__/device_manager_config_pb2.cpython-310.pyc differ
diff --git a/src/cmvr/config/device_manager_config/__pycache__/device_manager_config_pb2.cpython-312.pyc b/src/cmvr/config/device_manager_config/__pycache__/device_manager_config_pb2.cpython-312.pyc
new file mode 100644
index 0000000..cdff94d
Binary files /dev/null and b/src/cmvr/config/device_manager_config/__pycache__/device_manager_config_pb2.cpython-312.pyc differ
diff --git a/src/cmvr/config/device_manager_config/__pycache__/device_manager_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/device_manager_config/__pycache__/device_manager_config_pb2_grpc.cpython-310.pyc
new file mode 100644
index 0000000..4197d06
Binary files /dev/null and b/src/cmvr/config/device_manager_config/__pycache__/device_manager_config_pb2_grpc.cpython-310.pyc differ
diff --git a/src/cmvr/config/device_manager_config/__pycache__/device_manager_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/device_manager_config/__pycache__/device_manager_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..0bef689
Binary files /dev/null and b/src/cmvr/config/device_manager_config/__pycache__/device_manager_config_pb2_grpc.cpython-312.pyc differ
diff --git a/src/cmvr/config/device_manager_config/device_manager_config_pb2.py b/src/cmvr/config/device_manager_config/device_manager_config_pb2.py
new file mode 100644
index 0000000..b487e0e
--- /dev/null
+++ b/src/cmvr/config/device_manager_config/device_manager_config_pb2.py
@@ -0,0 +1,42 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/device_manager_config/device_manager_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/device_manager_config/device_manager_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n=cmvr/config/device_manager_config/device_manager_config.proto\x12\x0b\x63mvr.config\"\xa4\x05\n\x11\x44\x65viceConfigEntry\x12\n\n\x02id\x18\x01 \x01(\t\x12\x37\n\x04type\x18\x02 \x01(\x0e\x32).cmvr.config.DeviceConfigEntry.DeviceType\x12\x13\n\x0b\x63onfig_file\x18\x03 \x01(\t\x12\x0e\n\x06\x65nable\x18\x04 \x01(\x08\"\xa4\x04\n\nDeviceType\x12\x17\n\x13\x44\x45VICE_TYPE_UNKNOWN\x10\x00\x12\x1e\n\x1a\x44\x45VICE_TYPE_BIO_HEAD_ROBOT\x10\x08\x12\x1c\n\x18\x44\x45VICE_TYPE_MOTOR_SYSTEM\x10\t\x12\x19\n\x15\x44\x45VICE_TYPE_ROBOT_ARM\x10\x0c\x12\x16\n\x12\x44\x45VICE_TYPE_CAMERA\x10\r\x12\x17\n\x13\x44\x45VICE_TYPE_DEXHAND\x10\x0e\x12\x1a\n\x16\x44\x45VICE_TYPE_MICROPHONE\x10\x0f\x12\x17\n\x13\x44\x45VICE_TYPE_SPEAKER\x10\x10\x12\x13\n\x0f\x44\x45VICE_TYPE_AGV\x10\x11\"\x04\x08\x01\x10\x01\"\x04\x08\x02\x10\x02\"\x04\x08\x03\x10\x03\"\x04\x08\x04\x10\x04\"\x04\x08\x05\x10\x05\"\x04\x08\x06\x10\x06\"\x04\x08\x07\x10\x07\"\x04\x08\n\x10\n\"\x04\x08\x0b\x10\x0b*\x16\x44\x45VICE_TYPE_UVC_CAMERA*\x1c\x44\x45VICE_TYPE_REALSENSE_CAMERA*\x1c\x44\x45VICE_TYPE_RH56DFTP_DEXHAND*\x16\x44\x45VICE_TYPE_PX6AX_GEN3*\x1d\x44\x45VICE_TYPE_FFMPEG_MICROPHONE*\x1a\x44\x45VICE_TYPE_FFMPEG_SPEAKER*\x1a\x44\x45VICE_TYPE_HUMANOID_ROBOT*\x15\x44\x45VICE_TYPE_MOTOR_ARM*\x19\x44\x45VICE_TYPE_CARTESIAN_ARM\"z\n\x13\x44\x65viceManagerConfig\x12\x0c\n\x04name\x18\x01 \x01(\t\x12\x0f\n\x07version\x18\x02 \x01(\t\x12\x13\n\x0b\x64\x65scription\x18\x03 \x01(\t\x12/\n\x07\x64\x65vices\x18\x04 \x03(\x0b\x32\x1e.cmvr.config.DeviceConfigEntry\"S\n\x17\x44\x65viceManagerRootConfig\x12\x38\n\x0e\x64\x65vice_manager\x18\x01 \x01(\x0b\x32 .cmvr.config.DeviceManagerConfigb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.device_manager_config.device_manager_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_DEVICECONFIGENTRY']._serialized_start=79
+  _globals['_DEVICECONFIGENTRY']._serialized_end=755
+  _globals['_DEVICECONFIGENTRY_DEVICETYPE']._serialized_start=207
+  _globals['_DEVICECONFIGENTRY_DEVICETYPE']._serialized_end=755
+  _globals['_DEVICEMANAGERCONFIG']._serialized_start=757
+  _globals['_DEVICEMANAGERCONFIG']._serialized_end=879
+  _globals['_DEVICEMANAGERROOTCONFIG']._serialized_start=881
+  _globals['_DEVICEMANAGERROOTCONFIG']._serialized_end=964
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/device_manager_config/device_manager_config_pb2.pyi b/src/cmvr/config/device_manager_config/device_manager_config_pb2.pyi
new file mode 100644
index 0000000..92801ce
--- /dev/null
+++ b/src/cmvr/config/device_manager_config/device_manager_config_pb2.pyi
@@ -0,0 +1,58 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class DeviceConfigEntry(_message.Message):
+    __slots__ = ("id", "type", "config_file", "enable")
+    class DeviceType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        DEVICE_TYPE_UNKNOWN: _ClassVar[DeviceConfigEntry.DeviceType]
+        DEVICE_TYPE_BIO_HEAD_ROBOT: _ClassVar[DeviceConfigEntry.DeviceType]
+        DEVICE_TYPE_MOTOR_SYSTEM: _ClassVar[DeviceConfigEntry.DeviceType]
+        DEVICE_TYPE_ROBOT_ARM: _ClassVar[DeviceConfigEntry.DeviceType]
+        DEVICE_TYPE_CAMERA: _ClassVar[DeviceConfigEntry.DeviceType]
+        DEVICE_TYPE_DEXHAND: _ClassVar[DeviceConfigEntry.DeviceType]
+        DEVICE_TYPE_MICROPHONE: _ClassVar[DeviceConfigEntry.DeviceType]
+        DEVICE_TYPE_SPEAKER: _ClassVar[DeviceConfigEntry.DeviceType]
+        DEVICE_TYPE_AGV: _ClassVar[DeviceConfigEntry.DeviceType]
+    DEVICE_TYPE_UNKNOWN: DeviceConfigEntry.DeviceType
+    DEVICE_TYPE_BIO_HEAD_ROBOT: DeviceConfigEntry.DeviceType
+    DEVICE_TYPE_MOTOR_SYSTEM: DeviceConfigEntry.DeviceType
+    DEVICE_TYPE_ROBOT_ARM: DeviceConfigEntry.DeviceType
+    DEVICE_TYPE_CAMERA: DeviceConfigEntry.DeviceType
+    DEVICE_TYPE_DEXHAND: DeviceConfigEntry.DeviceType
+    DEVICE_TYPE_MICROPHONE: DeviceConfigEntry.DeviceType
+    DEVICE_TYPE_SPEAKER: DeviceConfigEntry.DeviceType
+    DEVICE_TYPE_AGV: DeviceConfigEntry.DeviceType
+    ID_FIELD_NUMBER: _ClassVar[int]
+    TYPE_FIELD_NUMBER: _ClassVar[int]
+    CONFIG_FILE_FIELD_NUMBER: _ClassVar[int]
+    ENABLE_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    type: DeviceConfigEntry.DeviceType
+    config_file: str
+    enable: bool
+    def __init__(self, id: _Optional[str] = ..., type: _Optional[_Union[DeviceConfigEntry.DeviceType, str]] = ..., config_file: _Optional[str] = ..., enable: _Optional[bool] = ...) -> None: ...
+
+class DeviceManagerConfig(_message.Message):
+    __slots__ = ("name", "version", "description", "devices")
+    NAME_FIELD_NUMBER: _ClassVar[int]
+    VERSION_FIELD_NUMBER: _ClassVar[int]
+    DESCRIPTION_FIELD_NUMBER: _ClassVar[int]
+    DEVICES_FIELD_NUMBER: _ClassVar[int]
+    name: str
+    version: str
+    description: str
+    devices: _containers.RepeatedCompositeFieldContainer[DeviceConfigEntry]
+    def __init__(self, name: _Optional[str] = ..., version: _Optional[str] = ..., description: _Optional[str] = ..., devices: _Optional[_Iterable[_Union[DeviceConfigEntry, _Mapping]]] = ...) -> None: ...
+
+class DeviceManagerRootConfig(_message.Message):
+    __slots__ = ("device_manager",)
+    DEVICE_MANAGER_FIELD_NUMBER: _ClassVar[int]
+    device_manager: DeviceManagerConfig
+    def __init__(self, device_manager: _Optional[_Union[DeviceManagerConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/device_manager_config/device_manager_config_pb2_grpc.py b/src/cmvr/config/device_manager_config/device_manager_config_pb2_grpc.py
new file mode 100644
index 0000000..828fc9d
--- /dev/null
+++ b/src/cmvr/config/device_manager_config/device_manager_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/device_manager_config/device_manager_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/dexhand_config/__pycache__/dexhand_config_pb2.cpython-310.pyc b/src/cmvr/config/dexhand_config/__pycache__/dexhand_config_pb2.cpython-310.pyc
new file mode 100644
index 0000000..bb053cc
Binary files /dev/null and b/src/cmvr/config/dexhand_config/__pycache__/dexhand_config_pb2.cpython-310.pyc differ
diff --git a/src/cmvr/config/dexhand_config/__pycache__/dexhand_config_pb2.cpython-312.pyc b/src/cmvr/config/dexhand_config/__pycache__/dexhand_config_pb2.cpython-312.pyc
new file mode 100644
index 0000000..9002119
Binary files /dev/null and b/src/cmvr/config/dexhand_config/__pycache__/dexhand_config_pb2.cpython-312.pyc differ
diff --git a/src/cmvr/config/dexhand_config/__pycache__/dexhand_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/dexhand_config/__pycache__/dexhand_config_pb2_grpc.cpython-310.pyc
new file mode 100644
index 0000000..19b8c7a
Binary files /dev/null and b/src/cmvr/config/dexhand_config/__pycache__/dexhand_config_pb2_grpc.cpython-310.pyc differ
diff --git a/src/cmvr/config/dexhand_config/__pycache__/dexhand_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/dexhand_config/__pycache__/dexhand_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..5351738
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diff --git a/src/cmvr/config/dexhand_config/dexhand_config_pb2.py b/src/cmvr/config/dexhand_config/dexhand_config_pb2.py
new file mode 100644
index 0000000..d5fb86e
--- /dev/null
+++ b/src/cmvr/config/dexhand_config/dexhand_config_pb2.py
@@ -0,0 +1,46 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/dexhand_config/dexhand_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/dexhand_config/dexhand_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/dexhand_config/dexhand_config.proto\x12\x0b\x63mvr.config\"]\n\x15RH56DFTPDexHandConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\n\n\x02ip\x18\x02 \x01(\t\x12\x0c\n\x04port\x18\x03 \x01(\x05\x12\x18\n\x10poll_interval_ms\x18\x05 \x01(\x05J\x04\x08\x04\x10\x05\"\xc5\x03\n\tPX6AXGen3\x12\n\n\x02id\x18\x01 \x01(\t\x12\x13\n\x0bserial_port\x18\x02 \x01(\t\x12\x14\n\x0csensor_model\x18\x03 \x01(\t\x12\x11\n\tmodule_id\x18\x04 \x01(\x05\x12\x11\n\tbaud_rate\x18\x05 \x01(\x05\x12\x1a\n\x12\x64istributed_length\x18\x06 \x01(\x05\x12\x18\n\x10resultant_length\x18\x07 \x01(\x05\x12\x18\n\x10poll_interval_ms\x18\x08 \x01(\x05\x12\x16\n\x0e\x61uto_calibrate\x18\t \x01(\x08\x12\x1b\n\x13response_timeout_ms\x18\x0b \x01(\x05\x12\x14\n\x0ctactile_rows\x18\x0c \x01(\x05\x12\x14\n\x0ctactile_cols\x18\r \x01(\x05\x12\x1d\n\x15response_header_bytes\x18\x0e \x01(\x05\x12\x16\n\x0etactile_finger\x18\x0f \x01(\t\x12\x16\n\x0etactile_region\x18\x10 \x01(\t\x12\x13\n\x0bsensor_name\x18\x11 \x01(\t\x12@\n\x11polling_read_mode\x18\x12 \x01(\x0e\x32%.cmvr.config.PX6AXGen3PollingReadModeJ\x04\x08\n\x10\x0b\"\x99\x01\n\x13\x44\x65xHandDeviceConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x36\n\x08rh56dftp\x18\n \x01(\x0b\x32\".cmvr.config.RH56DFTPDexHandConfigH\x00\x12-\n\x0bpx_6ax_gen3\x18\x0b \x01(\x0b\x32\x16.cmvr.config.PX6AXGen3H\x00\x42\t\n\x07\x62\x61\x63kendJ\x04\x08\x02\x10\x03\"C\n\rDexHandConfig\x12\x32\n\x08\x64\x65xhands\x18\x01 \x03(\x0b\x32 .cmvr.config.DexHandDeviceConfig\"@\n\x11\x44\x65xHandRootConfig\x12+\n\x07\x64\x65xhand\x18\x01 \x01(\x0b\x32\x1a.cmvr.config.DexHandConfig*\xc5\x01\n\x18PX6AXGen3PollingReadMode\x12\x41\n=PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_AND_RESULTANT_FORCE\x10\x00\x12\x33\n/PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_FORCE\x10\x01\x12\x31\n-PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE\x10\x02\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.dexhand_config.dexhand_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_PX6AXGEN3POLLINGREADMODE']._serialized_start=907
+  _globals['_PX6AXGEN3POLLINGREADMODE']._serialized_end=1104
+  _globals['_RH56DFTPDEXHANDCONFIG']._serialized_start=64
+  _globals['_RH56DFTPDEXHANDCONFIG']._serialized_end=157
+  _globals['_PX6AXGEN3']._serialized_start=160
+  _globals['_PX6AXGEN3']._serialized_end=613
+  _globals['_DEXHANDDEVICECONFIG']._serialized_start=616
+  _globals['_DEXHANDDEVICECONFIG']._serialized_end=769
+  _globals['_DEXHANDCONFIG']._serialized_start=771
+  _globals['_DEXHANDCONFIG']._serialized_end=838
+  _globals['_DEXHANDROOTCONFIG']._serialized_start=840
+  _globals['_DEXHANDROOTCONFIG']._serialized_end=904
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/dexhand_config/dexhand_config_pb2.pyi b/src/cmvr/config/dexhand_config/dexhand_config_pb2.pyi
new file mode 100644
index 0000000..9e695f5
--- /dev/null
+++ b/src/cmvr/config/dexhand_config/dexhand_config_pb2.pyi
@@ -0,0 +1,89 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class PX6AXGen3PollingReadMode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_AND_RESULTANT_FORCE: _ClassVar[PX6AXGen3PollingReadMode]
+    PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_FORCE: _ClassVar[PX6AXGen3PollingReadMode]
+    PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE: _ClassVar[PX6AXGen3PollingReadMode]
+PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_AND_RESULTANT_FORCE: PX6AXGen3PollingReadMode
+PX_6AX_GEN3_POLLING_READ_MODE_DISTRIBUTED_FORCE: PX6AXGen3PollingReadMode
+PX_6AX_GEN3_POLLING_READ_MODE_RESULTANT_FORCE: PX6AXGen3PollingReadMode
+
+class RH56DFTPDexHandConfig(_message.Message):
+    __slots__ = ("id", "ip", "port", "poll_interval_ms")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    IP_FIELD_NUMBER: _ClassVar[int]
+    PORT_FIELD_NUMBER: _ClassVar[int]
+    POLL_INTERVAL_MS_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    ip: str
+    port: int
+    poll_interval_ms: int
+    def __init__(self, id: _Optional[str] = ..., ip: _Optional[str] = ..., port: _Optional[int] = ..., poll_interval_ms: _Optional[int] = ...) -> None: ...
+
+class PX6AXGen3(_message.Message):
+    __slots__ = ("id", "serial_port", "sensor_model", "module_id", "baud_rate", "distributed_length", "resultant_length", "poll_interval_ms", "auto_calibrate", "response_timeout_ms", "tactile_rows", "tactile_cols", "response_header_bytes", "tactile_finger", "tactile_region", "sensor_name", "polling_read_mode")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    SERIAL_PORT_FIELD_NUMBER: _ClassVar[int]
+    SENSOR_MODEL_FIELD_NUMBER: _ClassVar[int]
+    MODULE_ID_FIELD_NUMBER: _ClassVar[int]
+    BAUD_RATE_FIELD_NUMBER: _ClassVar[int]
+    DISTRIBUTED_LENGTH_FIELD_NUMBER: _ClassVar[int]
+    RESULTANT_LENGTH_FIELD_NUMBER: _ClassVar[int]
+    POLL_INTERVAL_MS_FIELD_NUMBER: _ClassVar[int]
+    AUTO_CALIBRATE_FIELD_NUMBER: _ClassVar[int]
+    RESPONSE_TIMEOUT_MS_FIELD_NUMBER: _ClassVar[int]
+    TACTILE_ROWS_FIELD_NUMBER: _ClassVar[int]
+    TACTILE_COLS_FIELD_NUMBER: _ClassVar[int]
+    RESPONSE_HEADER_BYTES_FIELD_NUMBER: _ClassVar[int]
+    TACTILE_FINGER_FIELD_NUMBER: _ClassVar[int]
+    TACTILE_REGION_FIELD_NUMBER: _ClassVar[int]
+    SENSOR_NAME_FIELD_NUMBER: _ClassVar[int]
+    POLLING_READ_MODE_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    serial_port: str
+    sensor_model: str
+    module_id: int
+    baud_rate: int
+    distributed_length: int
+    resultant_length: int
+    poll_interval_ms: int
+    auto_calibrate: bool
+    response_timeout_ms: int
+    tactile_rows: int
+    tactile_cols: int
+    response_header_bytes: int
+    tactile_finger: str
+    tactile_region: str
+    sensor_name: str
+    polling_read_mode: PX6AXGen3PollingReadMode
+    def __init__(self, id: _Optional[str] = ..., serial_port: _Optional[str] = ..., sensor_model: _Optional[str] = ..., module_id: _Optional[int] = ..., baud_rate: _Optional[int] = ..., distributed_length: _Optional[int] = ..., resultant_length: _Optional[int] = ..., poll_interval_ms: _Optional[int] = ..., auto_calibrate: _Optional[bool] = ..., response_timeout_ms: _Optional[int] = ..., tactile_rows: _Optional[int] = ..., tactile_cols: _Optional[int] = ..., response_header_bytes: _Optional[int] = ..., tactile_finger: _Optional[str] = ..., tactile_region: _Optional[str] = ..., sensor_name: _Optional[str] = ..., polling_read_mode: _Optional[_Union[PX6AXGen3PollingReadMode, str]] = ...) -> None: ...
+
+class DexHandDeviceConfig(_message.Message):
+    __slots__ = ("id", "rh56dftp", "px_6ax_gen3")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    RH56DFTP_FIELD_NUMBER: _ClassVar[int]
+    PX_6AX_GEN3_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    rh56dftp: RH56DFTPDexHandConfig
+    px_6ax_gen3: PX6AXGen3
+    def __init__(self, id: _Optional[str] = ..., rh56dftp: _Optional[_Union[RH56DFTPDexHandConfig, _Mapping]] = ..., px_6ax_gen3: _Optional[_Union[PX6AXGen3, _Mapping]] = ...) -> None: ...
+
+class DexHandConfig(_message.Message):
+    __slots__ = ("dexhands",)
+    DEXHANDS_FIELD_NUMBER: _ClassVar[int]
+    dexhands: _containers.RepeatedCompositeFieldContainer[DexHandDeviceConfig]
+    def __init__(self, dexhands: _Optional[_Iterable[_Union[DexHandDeviceConfig, _Mapping]]] = ...) -> None: ...
+
+class DexHandRootConfig(_message.Message):
+    __slots__ = ("dexhand",)
+    DEXHAND_FIELD_NUMBER: _ClassVar[int]
+    dexhand: DexHandConfig
+    def __init__(self, dexhand: _Optional[_Union[DexHandConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/dexhand_config/dexhand_config_pb2_grpc.py b/src/cmvr/config/dexhand_config/dexhand_config_pb2_grpc.py
new file mode 100644
index 0000000..a750f92
--- /dev/null
+++ b/src/cmvr/config/dexhand_config/dexhand_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/dexhand_config/dexhand_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/grpc_server_config/__pycache__/grpc_server_config_pb2.cpython-310.pyc b/src/cmvr/config/grpc_server_config/__pycache__/grpc_server_config_pb2.cpython-310.pyc
new file mode 100644
index 0000000..4a82ba4
Binary files /dev/null and b/src/cmvr/config/grpc_server_config/__pycache__/grpc_server_config_pb2.cpython-310.pyc differ
diff --git a/src/cmvr/config/grpc_server_config/__pycache__/grpc_server_config_pb2.cpython-312.pyc b/src/cmvr/config/grpc_server_config/__pycache__/grpc_server_config_pb2.cpython-312.pyc
new file mode 100644
index 0000000..0def31d
Binary files /dev/null and b/src/cmvr/config/grpc_server_config/__pycache__/grpc_server_config_pb2.cpython-312.pyc differ
diff --git a/src/cmvr/config/grpc_server_config/__pycache__/grpc_server_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/grpc_server_config/__pycache__/grpc_server_config_pb2_grpc.cpython-310.pyc
new file mode 100644
index 0000000..4f04f4f
Binary files /dev/null and b/src/cmvr/config/grpc_server_config/__pycache__/grpc_server_config_pb2_grpc.cpython-310.pyc differ
diff --git a/src/cmvr/config/grpc_server_config/__pycache__/grpc_server_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/grpc_server_config/__pycache__/grpc_server_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..23b3afa
Binary files /dev/null and b/src/cmvr/config/grpc_server_config/__pycache__/grpc_server_config_pb2_grpc.cpython-312.pyc differ
diff --git a/src/cmvr/config/grpc_server_config/grpc_server_config_pb2.py b/src/cmvr/config/grpc_server_config/grpc_server_config_pb2.py
new file mode 100644
index 0000000..5d41463
--- /dev/null
+++ b/src/cmvr/config/grpc_server_config/grpc_server_config_pb2.py
@@ -0,0 +1,38 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/grpc_server_config/grpc_server_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/grpc_server_config/grpc_server_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n7cmvr/config/grpc_server_config/grpc_server_config.proto\x12\x0b\x63mvr.config\"U\n\x10GRPCServerConfig\x12\x0c\n\x04host\x18\x01 \x01(\t\x12\x0c\n\x04port\x18\x02 \x01(\t\x12\x19\n\x11\x65nable_reflection\x18\x03 \x01(\x08\x12\n\n\x02id\x18\x04 \x01(\t\"J\n\x14GRPCServerRootConfig\x12\x32\n\x0bgrpc_server\x18\x01 \x01(\x0b\x32\x1d.cmvr.config.GRPCServerConfigb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.grpc_server_config.grpc_server_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_GRPCSERVERCONFIG']._serialized_start=72
+  _globals['_GRPCSERVERCONFIG']._serialized_end=157
+  _globals['_GRPCSERVERROOTCONFIG']._serialized_start=159
+  _globals['_GRPCSERVERROOTCONFIG']._serialized_end=233
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/grpc_server_config/grpc_server_config_pb2.pyi b/src/cmvr/config/grpc_server_config/grpc_server_config_pb2.pyi
new file mode 100644
index 0000000..458e702
--- /dev/null
+++ b/src/cmvr/config/grpc_server_config/grpc_server_config_pb2.pyi
@@ -0,0 +1,24 @@
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class GRPCServerConfig(_message.Message):
+    __slots__ = ("host", "port", "enable_reflection", "id")
+    HOST_FIELD_NUMBER: _ClassVar[int]
+    PORT_FIELD_NUMBER: _ClassVar[int]
+    ENABLE_REFLECTION_FIELD_NUMBER: _ClassVar[int]
+    ID_FIELD_NUMBER: _ClassVar[int]
+    host: str
+    port: str
+    enable_reflection: bool
+    id: str
+    def __init__(self, host: _Optional[str] = ..., port: _Optional[str] = ..., enable_reflection: _Optional[bool] = ..., id: _Optional[str] = ...) -> None: ...
+
+class GRPCServerRootConfig(_message.Message):
+    __slots__ = ("grpc_server",)
+    GRPC_SERVER_FIELD_NUMBER: _ClassVar[int]
+    grpc_server: GRPCServerConfig
+    def __init__(self, grpc_server: _Optional[_Union[GRPCServerConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/grpc_server_config/grpc_server_config_pb2_grpc.py b/src/cmvr/config/grpc_server_config/grpc_server_config_pb2_grpc.py
new file mode 100644
index 0000000..82d5de1
--- /dev/null
+++ b/src/cmvr/config/grpc_server_config/grpc_server_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/grpc_server_config/grpc_server_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/joint_limits_config_pb2.py b/src/cmvr/config/joint_limits_config_pb2.py
new file mode 100644
index 0000000..e4a4cf7
--- /dev/null
+++ b/src/cmvr/config/joint_limits_config_pb2.py
@@ -0,0 +1,40 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/joint_limits_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/joint_limits_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n%cmvr/config/joint_limits_config.proto\x12\x0b\x63mvr.config\"V\n\x10JointLimitConfig\x12\x12\n\njoint_name\x18\x01 \x01(\t\x12\r\n\x05lower\x18\x02 \x01(\x01\x12\r\n\x05upper\x18\x03 \x01(\x01\x12\x10\n\x08velocity\x18\x04 \x01(\x01\"q\n\x11JointLimitsConfig\x12-\n\x06source\x18\x01 \x01(\x0e\x32\x1d.cmvr.config.JointLimitSource\x12-\n\x06joints\x18\x02 \x03(\x0b\x32\x1d.cmvr.config.JointLimitConfig*n\n\x10JointLimitSource\x12\x1e\n\x1aJOINT_LIMIT_SOURCE_UNKNOWN\x10\x00\x12\x1b\n\x17JOINT_LIMIT_SOURCE_URDF\x10\x01\x12\x1d\n\x19JOINT_LIMIT_SOURCE_CUSTOM\x10\x02\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.joint_limits_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_JOINTLIMITSOURCE']._serialized_start=257
+  _globals['_JOINTLIMITSOURCE']._serialized_end=367
+  _globals['_JOINTLIMITCONFIG']._serialized_start=54
+  _globals['_JOINTLIMITCONFIG']._serialized_end=140
+  _globals['_JOINTLIMITSCONFIG']._serialized_start=142
+  _globals['_JOINTLIMITSCONFIG']._serialized_end=255
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/joint_limits_config_pb2.pyi b/src/cmvr/config/joint_limits_config_pb2.pyi
new file mode 100644
index 0000000..5a48aba
--- /dev/null
+++ b/src/cmvr/config/joint_limits_config_pb2.pyi
@@ -0,0 +1,37 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class JointLimitSource(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    JOINT_LIMIT_SOURCE_UNKNOWN: _ClassVar[JointLimitSource]
+    JOINT_LIMIT_SOURCE_URDF: _ClassVar[JointLimitSource]
+    JOINT_LIMIT_SOURCE_CUSTOM: _ClassVar[JointLimitSource]
+JOINT_LIMIT_SOURCE_UNKNOWN: JointLimitSource
+JOINT_LIMIT_SOURCE_URDF: JointLimitSource
+JOINT_LIMIT_SOURCE_CUSTOM: JointLimitSource
+
+class JointLimitConfig(_message.Message):
+    __slots__ = ("joint_name", "lower", "upper", "velocity")
+    JOINT_NAME_FIELD_NUMBER: _ClassVar[int]
+    LOWER_FIELD_NUMBER: _ClassVar[int]
+    UPPER_FIELD_NUMBER: _ClassVar[int]
+    VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    joint_name: str
+    lower: float
+    upper: float
+    velocity: float
+    def __init__(self, joint_name: _Optional[str] = ..., lower: _Optional[float] = ..., upper: _Optional[float] = ..., velocity: _Optional[float] = ...) -> None: ...
+
+class JointLimitsConfig(_message.Message):
+    __slots__ = ("source", "joints")
+    SOURCE_FIELD_NUMBER: _ClassVar[int]
+    JOINTS_FIELD_NUMBER: _ClassVar[int]
+    source: JointLimitSource
+    joints: _containers.RepeatedCompositeFieldContainer[JointLimitConfig]
+    def __init__(self, source: _Optional[_Union[JointLimitSource, str]] = ..., joints: _Optional[_Iterable[_Union[JointLimitConfig, _Mapping]]] = ...) -> None: ...
diff --git a/src/cmvr/config/joint_limits_config_pb2_grpc.py b/src/cmvr/config/joint_limits_config_pb2_grpc.py
new file mode 100644
index 0000000..de4465e
--- /dev/null
+++ b/src/cmvr/config/joint_limits_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/joint_limits_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/lawba_ik_config_pb2.py b/src/cmvr/config/lawba_ik_config_pb2.py
new file mode 100644
index 0000000..33c6278
--- /dev/null
+++ b/src/cmvr/config/lawba_ik_config_pb2.py
@@ -0,0 +1,37 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/lawba_ik_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/lawba_ik_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.config import srs_ik_config_pb2 as cmvr_dot_config_dot_srs__ik__config__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n!cmvr/config/lawba_ik_config.proto\x12\x0b\x63mvr.config\x1a\x1f\x63mvr/config/srs_ik_config.proto\"\xd5\x01\n\rLawbaIKConfig\x12,\n\nsrs_config\x18\x01 \x01(\x0b\x32\x18.cmvr.config.SrsIKConfig\x12\x10\n\x08lambda_q\x18\x02 \x01(\x01\x12!\n\x19\x63ur_branch_cost_threshold\x18\x03 \x01(\x01\x12\x1c\n\x14opt_psi_update_alpha\x18\x04 \x01(\x01\x12\x19\n\x11opt_psi_max_delta\x18\x05 \x01(\x01\x12\x13\n\x0bopt_psi_min\x18\x06 \x01(\x01\x12\x13\n\x0bopt_psi_eps\x18\x07 \x01(\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.lawba_ik_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_LAWBAIKCONFIG']._serialized_start=84
+  _globals['_LAWBAIKCONFIG']._serialized_end=297
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/lawba_ik_config_pb2.pyi b/src/cmvr/config/lawba_ik_config_pb2.pyi
new file mode 100644
index 0000000..1cf0ccc
--- /dev/null
+++ b/src/cmvr/config/lawba_ik_config_pb2.pyi
@@ -0,0 +1,25 @@
+from cmvr.config import srs_ik_config_pb2 as _srs_ik_config_pb2
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class LawbaIKConfig(_message.Message):
+    __slots__ = ("srs_config", "lambda_q", "cur_branch_cost_threshold", "opt_psi_update_alpha", "opt_psi_max_delta", "opt_psi_min", "opt_psi_eps")
+    SRS_CONFIG_FIELD_NUMBER: _ClassVar[int]
+    LAMBDA_Q_FIELD_NUMBER: _ClassVar[int]
+    CUR_BRANCH_COST_THRESHOLD_FIELD_NUMBER: _ClassVar[int]
+    OPT_PSI_UPDATE_ALPHA_FIELD_NUMBER: _ClassVar[int]
+    OPT_PSI_MAX_DELTA_FIELD_NUMBER: _ClassVar[int]
+    OPT_PSI_MIN_FIELD_NUMBER: _ClassVar[int]
+    OPT_PSI_EPS_FIELD_NUMBER: _ClassVar[int]
+    srs_config: _srs_ik_config_pb2.SrsIKConfig
+    lambda_q: float
+    cur_branch_cost_threshold: float
+    opt_psi_update_alpha: float
+    opt_psi_max_delta: float
+    opt_psi_min: float
+    opt_psi_eps: float
+    def __init__(self, srs_config: _Optional[_Union[_srs_ik_config_pb2.SrsIKConfig, _Mapping]] = ..., lambda_q: _Optional[float] = ..., cur_branch_cost_threshold: _Optional[float] = ..., opt_psi_update_alpha: _Optional[float] = ..., opt_psi_max_delta: _Optional[float] = ..., opt_psi_min: _Optional[float] = ..., opt_psi_eps: _Optional[float] = ...) -> None: ...
diff --git a/src/cmvr/config/lawba_ik_config_pb2_grpc.py b/src/cmvr/config/lawba_ik_config_pb2_grpc.py
new file mode 100644
index 0000000..820a36d
--- /dev/null
+++ b/src/cmvr/config/lawba_ik_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/lawba_ik_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/logger_config/__pycache__/logger_config_pb2.cpython-310.pyc b/src/cmvr/config/logger_config/__pycache__/logger_config_pb2.cpython-310.pyc
new file mode 100644
index 0000000..b552b80
Binary files /dev/null and b/src/cmvr/config/logger_config/__pycache__/logger_config_pb2.cpython-310.pyc differ
diff --git a/src/cmvr/config/logger_config/__pycache__/logger_config_pb2.cpython-312.pyc b/src/cmvr/config/logger_config/__pycache__/logger_config_pb2.cpython-312.pyc
new file mode 100644
index 0000000..08e6a9f
Binary files /dev/null and b/src/cmvr/config/logger_config/__pycache__/logger_config_pb2.cpython-312.pyc differ
diff --git a/src/cmvr/config/logger_config/__pycache__/logger_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/logger_config/__pycache__/logger_config_pb2_grpc.cpython-310.pyc
new file mode 100644
index 0000000..5e17bd9
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diff --git a/src/cmvr/config/logger_config/__pycache__/logger_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/logger_config/__pycache__/logger_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..002d0ba
Binary files /dev/null and b/src/cmvr/config/logger_config/__pycache__/logger_config_pb2_grpc.cpython-312.pyc differ
diff --git a/src/cmvr/config/logger_config/logger_config_pb2.py b/src/cmvr/config/logger_config/logger_config_pb2.py
new file mode 100644
index 0000000..8c4572b
--- /dev/null
+++ b/src/cmvr/config/logger_config/logger_config_pb2.py
@@ -0,0 +1,44 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/logger_config/logger_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/logger_config/logger_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n-cmvr/config/logger_config/logger_config.proto\x12\x0b\x63mvr.config\"P\n\x08LogRoute\x12$\n\x05level\x18\x01 \x01(\x0e\x32\x15.cmvr.config.LogLevel\x12\x10\n\x08terminal\x18\x02 \x01(\x08\x12\x0c\n\x04\x66ile\x18\x03 \x01(\x08\"\xc5\x01\n\tLogFormat\x12\x16\n\tshow_time\x18\x01 \x01(\x08H\x00\x88\x01\x01\x12\x17\n\nshow_level\x18\x02 \x01(\x08H\x01\x88\x01\x01\x12\x1b\n\x0eshow_thread_id\x18\x03 \x01(\x08H\x02\x88\x01\x01\x12!\n\x14show_source_location\x18\x04 \x01(\x08H\x03\x88\x01\x01\x42\x0c\n\n_show_timeB\r\n\x0b_show_levelB\x11\n\x0f_show_thread_idB\x17\n\x15_show_source_location\"\xd8\x01\n\x0cLoggerConfig\x12,\n\rminimum_level\x18\x01 \x01(\x0e\x32\x15.cmvr.config.LogLevel\x12%\n\x06routes\x18\x02 \x03(\x0b\x32\x15.cmvr.config.LogRoute\x12\x11\n\tdirectory\x18\x03 \x01(\t\x12\x18\n\x10max_file_size_mb\x18\x04 \x01(\x05\x12\x1e\n\x16\x66lush_interval_seconds\x18\x05 \x01(\x05\x12&\n\x06\x66ormat\x18\x06 \x01(\x0b\x32\x16.cmvr.config.LogFormat\"=\n\x10LoggerRootConfig\x12)\n\x06logger\x18\x01 \x01(\x0b\x32\x19.cmvr.config.LoggerConfig*\x8f\x01\n\x08LogLevel\x12\x19\n\x15LOG_LEVEL_UNSPECIFIED\x10\x00\x12\x13\n\x0fLOG_LEVEL_DEBUG\x10\x01\x12\x12\n\x0eLOG_LEVEL_INFO\x10\x02\x12\x15\n\x11LOG_LEVEL_WARNING\x10\x03\x12\x13\n\x0fLOG_LEVEL_ERROR\x10\x04\x12\x13\n\x0fLOG_LEVEL_FATAL\x10\x05\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.logger_config.logger_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_LOGLEVEL']._serialized_start=627
+  _globals['_LOGLEVEL']._serialized_end=770
+  _globals['_LOGROUTE']._serialized_start=62
+  _globals['_LOGROUTE']._serialized_end=142
+  _globals['_LOGFORMAT']._serialized_start=145
+  _globals['_LOGFORMAT']._serialized_end=342
+  _globals['_LOGGERCONFIG']._serialized_start=345
+  _globals['_LOGGERCONFIG']._serialized_end=561
+  _globals['_LOGGERROOTCONFIG']._serialized_start=563
+  _globals['_LOGGERROOTCONFIG']._serialized_end=624
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/logger_config/logger_config_pb2.pyi b/src/cmvr/config/logger_config/logger_config_pb2.pyi
new file mode 100644
index 0000000..335fd91
--- /dev/null
+++ b/src/cmvr/config/logger_config/logger_config_pb2.pyi
@@ -0,0 +1,67 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class LogLevel(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    LOG_LEVEL_UNSPECIFIED: _ClassVar[LogLevel]
+    LOG_LEVEL_DEBUG: _ClassVar[LogLevel]
+    LOG_LEVEL_INFO: _ClassVar[LogLevel]
+    LOG_LEVEL_WARNING: _ClassVar[LogLevel]
+    LOG_LEVEL_ERROR: _ClassVar[LogLevel]
+    LOG_LEVEL_FATAL: _ClassVar[LogLevel]
+LOG_LEVEL_UNSPECIFIED: LogLevel
+LOG_LEVEL_DEBUG: LogLevel
+LOG_LEVEL_INFO: LogLevel
+LOG_LEVEL_WARNING: LogLevel
+LOG_LEVEL_ERROR: LogLevel
+LOG_LEVEL_FATAL: LogLevel
+
+class LogRoute(_message.Message):
+    __slots__ = ("level", "terminal", "file")
+    LEVEL_FIELD_NUMBER: _ClassVar[int]
+    TERMINAL_FIELD_NUMBER: _ClassVar[int]
+    FILE_FIELD_NUMBER: _ClassVar[int]
+    level: LogLevel
+    terminal: bool
+    file: bool
+    def __init__(self, level: _Optional[_Union[LogLevel, str]] = ..., terminal: _Optional[bool] = ..., file: _Optional[bool] = ...) -> None: ...
+
+class LogFormat(_message.Message):
+    __slots__ = ("show_time", "show_level", "show_thread_id", "show_source_location")
+    SHOW_TIME_FIELD_NUMBER: _ClassVar[int]
+    SHOW_LEVEL_FIELD_NUMBER: _ClassVar[int]
+    SHOW_THREAD_ID_FIELD_NUMBER: _ClassVar[int]
+    SHOW_SOURCE_LOCATION_FIELD_NUMBER: _ClassVar[int]
+    show_time: bool
+    show_level: bool
+    show_thread_id: bool
+    show_source_location: bool
+    def __init__(self, show_time: _Optional[bool] = ..., show_level: _Optional[bool] = ..., show_thread_id: _Optional[bool] = ..., show_source_location: _Optional[bool] = ...) -> None: ...
+
+class LoggerConfig(_message.Message):
+    __slots__ = ("minimum_level", "routes", "directory", "max_file_size_mb", "flush_interval_seconds", "format")
+    MINIMUM_LEVEL_FIELD_NUMBER: _ClassVar[int]
+    ROUTES_FIELD_NUMBER: _ClassVar[int]
+    DIRECTORY_FIELD_NUMBER: _ClassVar[int]
+    MAX_FILE_SIZE_MB_FIELD_NUMBER: _ClassVar[int]
+    FLUSH_INTERVAL_SECONDS_FIELD_NUMBER: _ClassVar[int]
+    FORMAT_FIELD_NUMBER: _ClassVar[int]
+    minimum_level: LogLevel
+    routes: _containers.RepeatedCompositeFieldContainer[LogRoute]
+    directory: str
+    max_file_size_mb: int
+    flush_interval_seconds: int
+    format: LogFormat
+    def __init__(self, minimum_level: _Optional[_Union[LogLevel, str]] = ..., routes: _Optional[_Iterable[_Union[LogRoute, _Mapping]]] = ..., directory: _Optional[str] = ..., max_file_size_mb: _Optional[int] = ..., flush_interval_seconds: _Optional[int] = ..., format: _Optional[_Union[LogFormat, _Mapping]] = ...) -> None: ...
+
+class LoggerRootConfig(_message.Message):
+    __slots__ = ("logger",)
+    LOGGER_FIELD_NUMBER: _ClassVar[int]
+    logger: LoggerConfig
+    def __init__(self, logger: _Optional[_Union[LoggerConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/logger_config/logger_config_pb2_grpc.py b/src/cmvr/config/logger_config/logger_config_pb2_grpc.py
new file mode 100644
index 0000000..759e3e1
--- /dev/null
+++ b/src/cmvr/config/logger_config/logger_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/logger_config/logger_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/microphone_config/__pycache__/microphone_config_pb2.cpython-310.pyc b/src/cmvr/config/microphone_config/__pycache__/microphone_config_pb2.cpython-310.pyc
new file mode 100644
index 0000000..205054f
Binary files /dev/null and b/src/cmvr/config/microphone_config/__pycache__/microphone_config_pb2.cpython-310.pyc differ
diff --git a/src/cmvr/config/microphone_config/__pycache__/microphone_config_pb2.cpython-312.pyc b/src/cmvr/config/microphone_config/__pycache__/microphone_config_pb2.cpython-312.pyc
new file mode 100644
index 0000000..2275338
Binary files /dev/null and b/src/cmvr/config/microphone_config/__pycache__/microphone_config_pb2.cpython-312.pyc differ
diff --git a/src/cmvr/config/microphone_config/__pycache__/microphone_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/microphone_config/__pycache__/microphone_config_pb2_grpc.cpython-310.pyc
new file mode 100644
index 0000000..08e25b1
Binary files /dev/null and b/src/cmvr/config/microphone_config/__pycache__/microphone_config_pb2_grpc.cpython-310.pyc differ
diff --git a/src/cmvr/config/microphone_config/__pycache__/microphone_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/microphone_config/__pycache__/microphone_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..36f1b9d
Binary files /dev/null and b/src/cmvr/config/microphone_config/__pycache__/microphone_config_pb2_grpc.cpython-312.pyc differ
diff --git a/src/cmvr/config/microphone_config/microphone_config_pb2.py b/src/cmvr/config/microphone_config/microphone_config_pb2.py
new file mode 100644
index 0000000..70b6bc2
--- /dev/null
+++ b/src/cmvr/config/microphone_config/microphone_config_pb2.py
@@ -0,0 +1,42 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/microphone_config/microphone_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/microphone_config/microphone_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n5cmvr/config/microphone_config/microphone_config.proto\x12\x0b\x63mvr.config\"v\n\x16\x46\x46MpegMicroPhoneConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x10\n\x08\x63hannels\x18\x02 \x01(\x05\x12\x12\n\nsampleRate\x18\x03 \x01(\x05\x12\x0e\n\x06volume\x18\x04 \x01(\x05\x12\x14\n\x0cinput_device\x18\x06 \x01(\tJ\x04\x08\x05\x10\x06\"l\n\x16MicrophoneDeviceConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x35\n\x06\x66\x66mpeg\x18\n \x01(\x0b\x32#.cmvr.config.FFMpegMicroPhoneConfigH\x00\x42\t\n\x07\x62\x61\x63kendJ\x04\x08\x02\x10\x03\"L\n\x10MicroPhoneConfig\x12\x38\n\x0bmicrophones\x18\x01 \x03(\x0b\x32#.cmvr.config.MicrophoneDeviceConfig\"I\n\x14MicroPhoneRootConfig\x12\x31\n\nmicrophone\x18\x01 \x01(\x0b\x32\x1d.cmvr.config.MicroPhoneConfigb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.microphone_config.microphone_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_FFMPEGMICROPHONECONFIG']._serialized_start=70
+  _globals['_FFMPEGMICROPHONECONFIG']._serialized_end=188
+  _globals['_MICROPHONEDEVICECONFIG']._serialized_start=190
+  _globals['_MICROPHONEDEVICECONFIG']._serialized_end=298
+  _globals['_MICROPHONECONFIG']._serialized_start=300
+  _globals['_MICROPHONECONFIG']._serialized_end=376
+  _globals['_MICROPHONEROOTCONFIG']._serialized_start=378
+  _globals['_MICROPHONEROOTCONFIG']._serialized_end=451
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/microphone_config/microphone_config_pb2.pyi b/src/cmvr/config/microphone_config/microphone_config_pb2.pyi
new file mode 100644
index 0000000..a837c3c
--- /dev/null
+++ b/src/cmvr/config/microphone_config/microphone_config_pb2.pyi
@@ -0,0 +1,41 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class FFMpegMicroPhoneConfig(_message.Message):
+    __slots__ = ("id", "channels", "sampleRate", "volume", "input_device")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    CHANNELS_FIELD_NUMBER: _ClassVar[int]
+    SAMPLERATE_FIELD_NUMBER: _ClassVar[int]
+    VOLUME_FIELD_NUMBER: _ClassVar[int]
+    INPUT_DEVICE_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    channels: int
+    sampleRate: int
+    volume: int
+    input_device: str
+    def __init__(self, id: _Optional[str] = ..., channels: _Optional[int] = ..., sampleRate: _Optional[int] = ..., volume: _Optional[int] = ..., input_device: _Optional[str] = ...) -> None: ...
+
+class MicrophoneDeviceConfig(_message.Message):
+    __slots__ = ("id", "ffmpeg")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    FFMPEG_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    ffmpeg: FFMpegMicroPhoneConfig
+    def __init__(self, id: _Optional[str] = ..., ffmpeg: _Optional[_Union[FFMpegMicroPhoneConfig, _Mapping]] = ...) -> None: ...
+
+class MicroPhoneConfig(_message.Message):
+    __slots__ = ("microphones",)
+    MICROPHONES_FIELD_NUMBER: _ClassVar[int]
+    microphones: _containers.RepeatedCompositeFieldContainer[MicrophoneDeviceConfig]
+    def __init__(self, microphones: _Optional[_Iterable[_Union[MicrophoneDeviceConfig, _Mapping]]] = ...) -> None: ...
+
+class MicroPhoneRootConfig(_message.Message):
+    __slots__ = ("microphone",)
+    MICROPHONE_FIELD_NUMBER: _ClassVar[int]
+    microphone: MicroPhoneConfig
+    def __init__(self, microphone: _Optional[_Union[MicroPhoneConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/microphone_config/microphone_config_pb2_grpc.py b/src/cmvr/config/microphone_config/microphone_config_pb2_grpc.py
new file mode 100644
index 0000000..dba125a
--- /dev/null
+++ b/src/cmvr/config/microphone_config/microphone_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/microphone_config/microphone_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/motor_config/__pycache__/motor_config_pb2.cpython-310.pyc b/src/cmvr/config/motor_config/__pycache__/motor_config_pb2.cpython-310.pyc
new file mode 100644
index 0000000..d0da46b
Binary files /dev/null and b/src/cmvr/config/motor_config/__pycache__/motor_config_pb2.cpython-310.pyc differ
diff --git a/src/cmvr/config/motor_config/__pycache__/motor_config_pb2.cpython-312.pyc b/src/cmvr/config/motor_config/__pycache__/motor_config_pb2.cpython-312.pyc
new file mode 100644
index 0000000..023b358
Binary files /dev/null and b/src/cmvr/config/motor_config/__pycache__/motor_config_pb2.cpython-312.pyc differ
diff --git a/src/cmvr/config/motor_config/__pycache__/motor_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/motor_config/__pycache__/motor_config_pb2_grpc.cpython-310.pyc
new file mode 100644
index 0000000..0c008cb
Binary files /dev/null and b/src/cmvr/config/motor_config/__pycache__/motor_config_pb2_grpc.cpython-310.pyc differ
diff --git a/src/cmvr/config/motor_config/__pycache__/motor_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/motor_config/__pycache__/motor_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..9ca1b4f
Binary files /dev/null and b/src/cmvr/config/motor_config/__pycache__/motor_config_pb2_grpc.cpython-312.pyc differ
diff --git a/src/cmvr/config/motor_config/motor_config_pb2.py b/src/cmvr/config/motor_config/motor_config_pb2.py
new file mode 100644
index 0000000..30a5262
--- /dev/null
+++ b/src/cmvr/config/motor_config/motor_config_pb2.py
@@ -0,0 +1,49 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/motor_config/motor_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/motor_config/motor_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.config import joint_limits_config_pb2 as cmvr_dot_config_dot_joint__limits__config__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n+cmvr/config/motor_config/motor_config.proto\x12\x0b\x63mvr.config\x1a%cmvr/config/joint_limits_config.proto\"j\n\x0eTi5MotorConfig\x12\n\n\x02id\x18\x01 \x01(\x05\x12\x12\n\njoint_name\x18\x02 \x01(\t\x12\x12\n\nlimit_q_lb\x18\x03 \x01(\x01\x12\x12\n\nlimit_q_ub\x18\x04 \x01(\x01\x12\x10\n\x08limit_qd\x18\x05 \x01(\x01\"5\n\x0fSocketCanConfig\x12\x0e\n\x06\x64\x65v_id\x18\x01 \x01(\t\x12\x12\n\nchannel_id\x18\x02 \x01(\x05\"5\n\x0e\x45therCATConfig\x12\x11\n\tmaster_id\x18\x01 \x01(\t\x12\x10\n\x08\x63ycle_us\x18\x02 \x01(\x05\"\xce\x02\n\x10MotorGroupConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12+\n\x08\x62us_type\x18\x02 \x01(\x0e\x32\x19.cmvr.config.MotorBusType\x12\x12\n\ntool_frame\x18\x03 \x01(\t\x12+\n\x03\x63\x61n\x18\n \x01(\x0b\x32\x1c.cmvr.config.SocketCanConfigH\x00\x12/\n\x08\x65thercat\x18\x0b \x01(\x0b\x32\x1b.cmvr.config.EtherCATConfigH\x00\x12+\n\x06motors\x18\x14 \x03(\x0b\x32\x1b.cmvr.config.Ti5MotorConfig\x12\x34\n\x0cjoint_limits\x18\x1e \x01(\x0b\x32\x1e.cmvr.config.JointLimitsConfig\x12\x1e\n\x16joint_limits_urdf_path\x18\x1f \x01(\tB\x0c\n\nbus_config\"N\n\x0bMotorConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x33\n\x0cmotor_groups\x18\x02 \x03(\x0b\x32\x1d.cmvr.config.MotorGroupConfig\":\n\x0fMotorRootConfig\x12\'\n\x05motor\x18\x01 \x01(\x0b\x32\x18.cmvr.config.MotorConfig*f\n\x0cMotorBusType\x12\x15\n\x11MOTOR_BUS_UNKNOWN\x10\x00\x12\x11\n\rMOTOR_BUS_CAN\x10\x01\x12\x16\n\x12MOTOR_BUS_ETHERCAT\x10\x02\x12\x14\n\x10MOTOR_BUS_MUJOCO\x10\x03\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.motor_config.motor_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_MOTORBUSTYPE']._serialized_start=794
+  _globals['_MOTORBUSTYPE']._serialized_end=896
+  _globals['_TI5MOTORCONFIG']._serialized_start=99
+  _globals['_TI5MOTORCONFIG']._serialized_end=205
+  _globals['_SOCKETCANCONFIG']._serialized_start=207
+  _globals['_SOCKETCANCONFIG']._serialized_end=260
+  _globals['_ETHERCATCONFIG']._serialized_start=262
+  _globals['_ETHERCATCONFIG']._serialized_end=315
+  _globals['_MOTORGROUPCONFIG']._serialized_start=318
+  _globals['_MOTORGROUPCONFIG']._serialized_end=652
+  _globals['_MOTORCONFIG']._serialized_start=654
+  _globals['_MOTORCONFIG']._serialized_end=732
+  _globals['_MOTORROOTCONFIG']._serialized_start=734
+  _globals['_MOTORROOTCONFIG']._serialized_end=792
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/motor_config/motor_config_pb2.pyi b/src/cmvr/config/motor_config/motor_config_pb2.pyi
new file mode 100644
index 0000000..3743b31
--- /dev/null
+++ b/src/cmvr/config/motor_config/motor_config_pb2.pyi
@@ -0,0 +1,84 @@
+from cmvr.config import joint_limits_config_pb2 as _joint_limits_config_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class MotorBusType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    MOTOR_BUS_UNKNOWN: _ClassVar[MotorBusType]
+    MOTOR_BUS_CAN: _ClassVar[MotorBusType]
+    MOTOR_BUS_ETHERCAT: _ClassVar[MotorBusType]
+    MOTOR_BUS_MUJOCO: _ClassVar[MotorBusType]
+MOTOR_BUS_UNKNOWN: MotorBusType
+MOTOR_BUS_CAN: MotorBusType
+MOTOR_BUS_ETHERCAT: MotorBusType
+MOTOR_BUS_MUJOCO: MotorBusType
+
+class Ti5MotorConfig(_message.Message):
+    __slots__ = ("id", "joint_name", "limit_q_lb", "limit_q_ub", "limit_qd")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    JOINT_NAME_FIELD_NUMBER: _ClassVar[int]
+    LIMIT_Q_LB_FIELD_NUMBER: _ClassVar[int]
+    LIMIT_Q_UB_FIELD_NUMBER: _ClassVar[int]
+    LIMIT_QD_FIELD_NUMBER: _ClassVar[int]
+    id: int
+    joint_name: str
+    limit_q_lb: float
+    limit_q_ub: float
+    limit_qd: float
+    def __init__(self, id: _Optional[int] = ..., joint_name: _Optional[str] = ..., limit_q_lb: _Optional[float] = ..., limit_q_ub: _Optional[float] = ..., limit_qd: _Optional[float] = ...) -> None: ...
+
+class SocketCanConfig(_message.Message):
+    __slots__ = ("dev_id", "channel_id")
+    DEV_ID_FIELD_NUMBER: _ClassVar[int]
+    CHANNEL_ID_FIELD_NUMBER: _ClassVar[int]
+    dev_id: str
+    channel_id: int
+    def __init__(self, dev_id: _Optional[str] = ..., channel_id: _Optional[int] = ...) -> None: ...
+
+class EtherCATConfig(_message.Message):
+    __slots__ = ("master_id", "cycle_us")
+    MASTER_ID_FIELD_NUMBER: _ClassVar[int]
+    CYCLE_US_FIELD_NUMBER: _ClassVar[int]
+    master_id: str
+    cycle_us: int
+    def __init__(self, master_id: _Optional[str] = ..., cycle_us: _Optional[int] = ...) -> None: ...
+
+class MotorGroupConfig(_message.Message):
+    __slots__ = ("id", "bus_type", "tool_frame", "can", "ethercat", "motors", "joint_limits", "joint_limits_urdf_path")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    BUS_TYPE_FIELD_NUMBER: _ClassVar[int]
+    TOOL_FRAME_FIELD_NUMBER: _ClassVar[int]
+    CAN_FIELD_NUMBER: _ClassVar[int]
+    ETHERCAT_FIELD_NUMBER: _ClassVar[int]
+    MOTORS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_LIMITS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_LIMITS_URDF_PATH_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    bus_type: MotorBusType
+    tool_frame: str
+    can: SocketCanConfig
+    ethercat: EtherCATConfig
+    motors: _containers.RepeatedCompositeFieldContainer[Ti5MotorConfig]
+    joint_limits: _joint_limits_config_pb2.JointLimitsConfig
+    joint_limits_urdf_path: str
+    def __init__(self, id: _Optional[str] = ..., bus_type: _Optional[_Union[MotorBusType, str]] = ..., tool_frame: _Optional[str] = ..., can: _Optional[_Union[SocketCanConfig, _Mapping]] = ..., ethercat: _Optional[_Union[EtherCATConfig, _Mapping]] = ..., motors: _Optional[_Iterable[_Union[Ti5MotorConfig, _Mapping]]] = ..., joint_limits: _Optional[_Union[_joint_limits_config_pb2.JointLimitsConfig, _Mapping]] = ..., joint_limits_urdf_path: _Optional[str] = ...) -> None: ...
+
+class MotorConfig(_message.Message):
+    __slots__ = ("id", "motor_groups")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    MOTOR_GROUPS_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    motor_groups: _containers.RepeatedCompositeFieldContainer[MotorGroupConfig]
+    def __init__(self, id: _Optional[str] = ..., motor_groups: _Optional[_Iterable[_Union[MotorGroupConfig, _Mapping]]] = ...) -> None: ...
+
+class MotorRootConfig(_message.Message):
+    __slots__ = ("motor",)
+    MOTOR_FIELD_NUMBER: _ClassVar[int]
+    motor: MotorConfig
+    def __init__(self, motor: _Optional[_Union[MotorConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/motor_config/motor_config_pb2_grpc.py b/src/cmvr/config/motor_config/motor_config_pb2_grpc.py
new file mode 100644
index 0000000..f4bdce8
--- /dev/null
+++ b/src/cmvr/config/motor_config/motor_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/motor_config/motor_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/pinocchio_dls_ik_config_pb2.py b/src/cmvr/config/pinocchio_dls_ik_config_pb2.py
new file mode 100644
index 0000000..3b5df7f
--- /dev/null
+++ b/src/cmvr/config/pinocchio_dls_ik_config_pb2.py
@@ -0,0 +1,39 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/pinocchio_dls_ik_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/pinocchio_dls_ik_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.config import joint_limits_config_pb2 as cmvr_dot_config_dot_joint__limits__config__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n)cmvr/config/pinocchio_dls_ik_config.proto\x12\x0b\x63mvr.config\x1a%cmvr/config/joint_limits_config.proto\"\xb8\x02\n\x14PinocchioDlsIKConfig\x12\x11\n\turdf_path\x18\x01 \x01(\t\x12\x17\n\x0f\x62\x61se_frame_name\x18\x02 \x01(\t\x12\x19\n\x11\x66lange_frame_name\x18\x03 \x01(\t\x12\x16\n\x0etcp_frame_name\x18\x04 \x01(\t\x12\x11\n\tmax_iters\x18\x05 \x01(\x05\x12\x0f\n\x07pos_eps\x18\x06 \x01(\x01\x12\x0f\n\x07rot_eps\x18\x07 \x01(\x01\x12\x0f\n\x07\x64\x61mping\x18\x08 \x01(\x01\x12\x45\n\x15joint_limit_avoidance\x18\t \x01(\x0b\x32&.cmvr.config.JointLimitAvoidanceConfig\x12\x34\n\x0cjoint_limits\x18\n \x01(\x0b\x32\x1e.cmvr.config.JointLimitsConfig\"a\n\x19JointLimitAvoidanceConfig\x12\x0e\n\x06\x65nable\x18\x01 \x01(\x08\x12\x0c\n\x04gain\x18\x02 \x01(\x01\x12\x14\n\x0cmargin_ratio\x18\x03 \x01(\x01\x12\x10\n\x08max_push\x18\x04 \x01(\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.pinocchio_dls_ik_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_PINOCCHIODLSIKCONFIG']._serialized_start=98
+  _globals['_PINOCCHIODLSIKCONFIG']._serialized_end=410
+  _globals['_JOINTLIMITAVOIDANCECONFIG']._serialized_start=412
+  _globals['_JOINTLIMITAVOIDANCECONFIG']._serialized_end=509
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/pinocchio_dls_ik_config_pb2.pyi b/src/cmvr/config/pinocchio_dls_ik_config_pb2.pyi
new file mode 100644
index 0000000..ade3aba
--- /dev/null
+++ b/src/cmvr/config/pinocchio_dls_ik_config_pb2.pyi
@@ -0,0 +1,43 @@
+from cmvr.config import joint_limits_config_pb2 as _joint_limits_config_pb2
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class PinocchioDlsIKConfig(_message.Message):
+    __slots__ = ("urdf_path", "base_frame_name", "flange_frame_name", "tcp_frame_name", "max_iters", "pos_eps", "rot_eps", "damping", "joint_limit_avoidance", "joint_limits")
+    URDF_PATH_FIELD_NUMBER: _ClassVar[int]
+    BASE_FRAME_NAME_FIELD_NUMBER: _ClassVar[int]
+    FLANGE_FRAME_NAME_FIELD_NUMBER: _ClassVar[int]
+    TCP_FRAME_NAME_FIELD_NUMBER: _ClassVar[int]
+    MAX_ITERS_FIELD_NUMBER: _ClassVar[int]
+    POS_EPS_FIELD_NUMBER: _ClassVar[int]
+    ROT_EPS_FIELD_NUMBER: _ClassVar[int]
+    DAMPING_FIELD_NUMBER: _ClassVar[int]
+    JOINT_LIMIT_AVOIDANCE_FIELD_NUMBER: _ClassVar[int]
+    JOINT_LIMITS_FIELD_NUMBER: _ClassVar[int]
+    urdf_path: str
+    base_frame_name: str
+    flange_frame_name: str
+    tcp_frame_name: str
+    max_iters: int
+    pos_eps: float
+    rot_eps: float
+    damping: float
+    joint_limit_avoidance: JointLimitAvoidanceConfig
+    joint_limits: _joint_limits_config_pb2.JointLimitsConfig
+    def __init__(self, urdf_path: _Optional[str] = ..., base_frame_name: _Optional[str] = ..., flange_frame_name: _Optional[str] = ..., tcp_frame_name: _Optional[str] = ..., max_iters: _Optional[int] = ..., pos_eps: _Optional[float] = ..., rot_eps: _Optional[float] = ..., damping: _Optional[float] = ..., joint_limit_avoidance: _Optional[_Union[JointLimitAvoidanceConfig, _Mapping]] = ..., joint_limits: _Optional[_Union[_joint_limits_config_pb2.JointLimitsConfig, _Mapping]] = ...) -> None: ...
+
+class JointLimitAvoidanceConfig(_message.Message):
+    __slots__ = ("enable", "gain", "margin_ratio", "max_push")
+    ENABLE_FIELD_NUMBER: _ClassVar[int]
+    GAIN_FIELD_NUMBER: _ClassVar[int]
+    MARGIN_RATIO_FIELD_NUMBER: _ClassVar[int]
+    MAX_PUSH_FIELD_NUMBER: _ClassVar[int]
+    enable: bool
+    gain: float
+    margin_ratio: float
+    max_push: float
+    def __init__(self, enable: _Optional[bool] = ..., gain: _Optional[float] = ..., margin_ratio: _Optional[float] = ..., max_push: _Optional[float] = ...) -> None: ...
diff --git a/src/cmvr/config/pinocchio_dls_ik_config_pb2_grpc.py b/src/cmvr/config/pinocchio_dls_ik_config_pb2_grpc.py
new file mode 100644
index 0000000..e44a961
--- /dev/null
+++ b/src/cmvr/config/pinocchio_dls_ik_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/pinocchio_dls_ik_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/pinocchio_qp_ik_config_pb2.py b/src/cmvr/config/pinocchio_qp_ik_config_pb2.py
new file mode 100644
index 0000000..8cf275d
--- /dev/null
+++ b/src/cmvr/config/pinocchio_qp_ik_config_pb2.py
@@ -0,0 +1,36 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/pinocchio_qp_ik_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/pinocchio_qp_ik_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n(cmvr/config/pinocchio_qp_ik_config.proto\x12\x0b\x63mvr.config\"\xcd\x01\n\x13PinocchioQpIKConfig\x12\x11\n\turdf_path\x18\x01 \x01(\t\x12\x17\n\x0f\x62\x61se_frame_name\x18\x02 \x01(\t\x12\x19\n\x11\x66lange_frame_name\x18\x03 \x01(\t\x12\x16\n\x0etcp_frame_name\x18\x04 \x01(\t\x12\x0e\n\x06lambda\x18\x05 \x01(\x01\x12\x10\n\x08w_posrot\x18\x06 \x01(\x01\x12\x11\n\tmax_iters\x18\x07 \x01(\x05\x12\x0b\n\x03tol\x18\x08 \x01(\x01\x12\x15\n\rqp_time_limit\x18\t \x01(\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.pinocchio_qp_ik_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_PINOCCHIOQPIKCONFIG']._serialized_start=58
+  _globals['_PINOCCHIOQPIKCONFIG']._serialized_end=263
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/pinocchio_qp_ik_config_pb2.pyi b/src/cmvr/config/pinocchio_qp_ik_config_pb2.pyi
new file mode 100644
index 0000000..ba7aeef
--- /dev/null
+++ b/src/cmvr/config/pinocchio_qp_ik_config_pb2.pyi
@@ -0,0 +1,26 @@
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from typing import ClassVar as _ClassVar, Optional as _Optional
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class PinocchioQpIKConfig(_message.Message):
+    __slots__ = ("urdf_path", "base_frame_name", "flange_frame_name", "tcp_frame_name", "w_posrot", "max_iters", "tol", "qp_time_limit")
+    URDF_PATH_FIELD_NUMBER: _ClassVar[int]
+    BASE_FRAME_NAME_FIELD_NUMBER: _ClassVar[int]
+    FLANGE_FRAME_NAME_FIELD_NUMBER: _ClassVar[int]
+    TCP_FRAME_NAME_FIELD_NUMBER: _ClassVar[int]
+    LAMBDA_FIELD_NUMBER: _ClassVar[int]
+    W_POSROT_FIELD_NUMBER: _ClassVar[int]
+    MAX_ITERS_FIELD_NUMBER: _ClassVar[int]
+    TOL_FIELD_NUMBER: _ClassVar[int]
+    QP_TIME_LIMIT_FIELD_NUMBER: _ClassVar[int]
+    urdf_path: str
+    base_frame_name: str
+    flange_frame_name: str
+    tcp_frame_name: str
+    w_posrot: float
+    max_iters: int
+    tol: float
+    qp_time_limit: float
+    def __init__(self, urdf_path: _Optional[str] = ..., base_frame_name: _Optional[str] = ..., flange_frame_name: _Optional[str] = ..., tcp_frame_name: _Optional[str] = ..., w_posrot: _Optional[float] = ..., max_iters: _Optional[int] = ..., tol: _Optional[float] = ..., qp_time_limit: _Optional[float] = ..., **kwargs) -> None: ...
diff --git a/src/cmvr/config/pinocchio_qp_ik_config_pb2_grpc.py b/src/cmvr/config/pinocchio_qp_ik_config_pb2_grpc.py
new file mode 100644
index 0000000..29da68f
--- /dev/null
+++ b/src/cmvr/config/pinocchio_qp_ik_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/pinocchio_qp_ik_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/speaker_config/__pycache__/speaker_config_pb2.cpython-310.pyc b/src/cmvr/config/speaker_config/__pycache__/speaker_config_pb2.cpython-310.pyc
new file mode 100644
index 0000000..a414907
Binary files /dev/null and b/src/cmvr/config/speaker_config/__pycache__/speaker_config_pb2.cpython-310.pyc differ
diff --git a/src/cmvr/config/speaker_config/__pycache__/speaker_config_pb2.cpython-312.pyc b/src/cmvr/config/speaker_config/__pycache__/speaker_config_pb2.cpython-312.pyc
new file mode 100644
index 0000000..434bac0
Binary files /dev/null and b/src/cmvr/config/speaker_config/__pycache__/speaker_config_pb2.cpython-312.pyc differ
diff --git a/src/cmvr/config/speaker_config/__pycache__/speaker_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/speaker_config/__pycache__/speaker_config_pb2_grpc.cpython-310.pyc
new file mode 100644
index 0000000..d25d72e
Binary files /dev/null and b/src/cmvr/config/speaker_config/__pycache__/speaker_config_pb2_grpc.cpython-310.pyc differ
diff --git a/src/cmvr/config/speaker_config/__pycache__/speaker_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/speaker_config/__pycache__/speaker_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..be1da55
Binary files /dev/null and b/src/cmvr/config/speaker_config/__pycache__/speaker_config_pb2_grpc.cpython-312.pyc differ
diff --git a/src/cmvr/config/speaker_config/speaker_config_pb2.py b/src/cmvr/config/speaker_config/speaker_config_pb2.py
new file mode 100644
index 0000000..966909c
--- /dev/null
+++ b/src/cmvr/config/speaker_config/speaker_config_pb2.py
@@ -0,0 +1,42 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/speaker_config/speaker_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/speaker_config/speaker_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/speaker_config/speaker_config.proto\x12\x0b\x63mvr.config\"\'\n\x13\x46\x46MpegSpeakerConfig\x12\n\n\x02id\x18\x01 \x01(\tJ\x04\x08\x02\x10\x03\"f\n\x13SpeakerDeviceConfig\x12\n\n\x02id\x18\x01 \x01(\t\x12\x32\n\x06\x66\x66mpeg\x18\n \x01(\x0b\x32 .cmvr.config.FFMpegSpeakerConfigH\x00\x42\t\n\x07\x62\x61\x63kendJ\x04\x08\x02\x10\x03\"C\n\rSpeakerConfig\x12\x32\n\x08speakers\x18\x01 \x03(\x0b\x32 .cmvr.config.SpeakerDeviceConfig\"@\n\x11SpeakerRootConfig\x12+\n\x07speaker\x18\x01 \x01(\x0b\x32\x1a.cmvr.config.SpeakerConfigb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.speaker_config.speaker_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_FFMPEGSPEAKERCONFIG']._serialized_start=64
+  _globals['_FFMPEGSPEAKERCONFIG']._serialized_end=103
+  _globals['_SPEAKERDEVICECONFIG']._serialized_start=105
+  _globals['_SPEAKERDEVICECONFIG']._serialized_end=207
+  _globals['_SPEAKERCONFIG']._serialized_start=209
+  _globals['_SPEAKERCONFIG']._serialized_end=276
+  _globals['_SPEAKERROOTCONFIG']._serialized_start=278
+  _globals['_SPEAKERROOTCONFIG']._serialized_end=342
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/speaker_config/speaker_config_pb2.pyi b/src/cmvr/config/speaker_config/speaker_config_pb2.pyi
new file mode 100644
index 0000000..833d735
--- /dev/null
+++ b/src/cmvr/config/speaker_config/speaker_config_pb2.pyi
@@ -0,0 +1,33 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class FFMpegSpeakerConfig(_message.Message):
+    __slots__ = ("id",)
+    ID_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    def __init__(self, id: _Optional[str] = ...) -> None: ...
+
+class SpeakerDeviceConfig(_message.Message):
+    __slots__ = ("id", "ffmpeg")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    FFMPEG_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    ffmpeg: FFMpegSpeakerConfig
+    def __init__(self, id: _Optional[str] = ..., ffmpeg: _Optional[_Union[FFMpegSpeakerConfig, _Mapping]] = ...) -> None: ...
+
+class SpeakerConfig(_message.Message):
+    __slots__ = ("speakers",)
+    SPEAKERS_FIELD_NUMBER: _ClassVar[int]
+    speakers: _containers.RepeatedCompositeFieldContainer[SpeakerDeviceConfig]
+    def __init__(self, speakers: _Optional[_Iterable[_Union[SpeakerDeviceConfig, _Mapping]]] = ...) -> None: ...
+
+class SpeakerRootConfig(_message.Message):
+    __slots__ = ("speaker",)
+    SPEAKER_FIELD_NUMBER: _ClassVar[int]
+    speaker: SpeakerConfig
+    def __init__(self, speaker: _Optional[_Union[SpeakerConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/speaker_config/speaker_config_pb2_grpc.py b/src/cmvr/config/speaker_config/speaker_config_pb2_grpc.py
new file mode 100644
index 0000000..cb837ad
--- /dev/null
+++ b/src/cmvr/config/speaker_config/speaker_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/speaker_config/speaker_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/srs_ik_config_pb2.py b/src/cmvr/config/srs_ik_config_pb2.py
new file mode 100644
index 0000000..07dc7c9
--- /dev/null
+++ b/src/cmvr/config/srs_ik_config_pb2.py
@@ -0,0 +1,36 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/srs_ik_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/srs_ik_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1f\x63mvr/config/srs_ik_config.proto\x12\x0b\x63mvr.config\"\xb5\x01\n\x0bSrsIKConfig\x12\x13\n\x0binitial_psi\x18\x01 \x01(\x01\x12\x17\n\x0fshoulder_config\x18\x02 \x01(\x05\x12\x14\n\x0c\x65lbow_config\x18\x03 \x01(\x05\x12\x14\n\x0cwrist_config\x18\x04 \x01(\x05\x12\x14\n\x0clink_lengths\x18\n \x03(\x01\x12\x1a\n\x12joint_lower_limits\x18\x0b \x03(\x01\x12\x1a\n\x12joint_upper_limits\x18\x0c \x03(\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.srs_ik_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_SRSIKCONFIG']._serialized_start=49
+  _globals['_SRSIKCONFIG']._serialized_end=230
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/srs_ik_config_pb2.pyi b/src/cmvr/config/srs_ik_config_pb2.pyi
new file mode 100644
index 0000000..746b87c
--- /dev/null
+++ b/src/cmvr/config/srs_ik_config_pb2.pyi
@@ -0,0 +1,25 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable
+from typing import ClassVar as _ClassVar, Optional as _Optional
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class SrsIKConfig(_message.Message):
+    __slots__ = ("initial_psi", "shoulder_config", "elbow_config", "wrist_config", "link_lengths", "joint_lower_limits", "joint_upper_limits")
+    INITIAL_PSI_FIELD_NUMBER: _ClassVar[int]
+    SHOULDER_CONFIG_FIELD_NUMBER: _ClassVar[int]
+    ELBOW_CONFIG_FIELD_NUMBER: _ClassVar[int]
+    WRIST_CONFIG_FIELD_NUMBER: _ClassVar[int]
+    LINK_LENGTHS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_LOWER_LIMITS_FIELD_NUMBER: _ClassVar[int]
+    JOINT_UPPER_LIMITS_FIELD_NUMBER: _ClassVar[int]
+    initial_psi: float
+    shoulder_config: int
+    elbow_config: int
+    wrist_config: int
+    link_lengths: _containers.RepeatedScalarFieldContainer[float]
+    joint_lower_limits: _containers.RepeatedScalarFieldContainer[float]
+    joint_upper_limits: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, initial_psi: _Optional[float] = ..., shoulder_config: _Optional[int] = ..., elbow_config: _Optional[int] = ..., wrist_config: _Optional[int] = ..., link_lengths: _Optional[_Iterable[float]] = ..., joint_lower_limits: _Optional[_Iterable[float]] = ..., joint_upper_limits: _Optional[_Iterable[float]] = ...) -> None: ...
diff --git a/src/cmvr/config/srs_ik_config_pb2_grpc.py b/src/cmvr/config/srs_ik_config_pb2_grpc.py
new file mode 100644
index 0000000..44032ce
--- /dev/null
+++ b/src/cmvr/config/srs_ik_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/srs_ik_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/task_manager_config/__pycache__/task_manager_config_pb2.cpython-310.pyc b/src/cmvr/config/task_manager_config/__pycache__/task_manager_config_pb2.cpython-310.pyc
new file mode 100644
index 0000000..156b4d4
Binary files /dev/null and b/src/cmvr/config/task_manager_config/__pycache__/task_manager_config_pb2.cpython-310.pyc differ
diff --git a/src/cmvr/config/task_manager_config/__pycache__/task_manager_config_pb2.cpython-312.pyc b/src/cmvr/config/task_manager_config/__pycache__/task_manager_config_pb2.cpython-312.pyc
new file mode 100644
index 0000000..e513b8f
Binary files /dev/null and b/src/cmvr/config/task_manager_config/__pycache__/task_manager_config_pb2.cpython-312.pyc differ
diff --git a/src/cmvr/config/task_manager_config/__pycache__/task_manager_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/task_manager_config/__pycache__/task_manager_config_pb2_grpc.cpython-310.pyc
new file mode 100644
index 0000000..6e5d2da
Binary files /dev/null and b/src/cmvr/config/task_manager_config/__pycache__/task_manager_config_pb2_grpc.cpython-310.pyc differ
diff --git a/src/cmvr/config/task_manager_config/__pycache__/task_manager_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/task_manager_config/__pycache__/task_manager_config_pb2_grpc.cpython-312.pyc
new file mode 100644
index 0000000..bc596b9
Binary files /dev/null and b/src/cmvr/config/task_manager_config/__pycache__/task_manager_config_pb2_grpc.cpython-312.pyc differ
diff --git a/src/cmvr/config/task_manager_config/task_manager_config_pb2.py b/src/cmvr/config/task_manager_config/task_manager_config_pb2.py
new file mode 100644
index 0000000..a4faaaf
--- /dev/null
+++ b/src/cmvr/config/task_manager_config/task_manager_config_pb2.py
@@ -0,0 +1,44 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/task_manager_config/task_manager_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/task_manager_config/task_manager_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n9cmvr/config/task_manager_config/task_manager_config.proto\x12\x0b\x63mvr.config\"\xb3\x03\n\x0fTaskConfigEntry\x12\n\n\x02id\x18\x01 \x01(\t\x12\x33\n\x04type\x18\x02 \x01(\x0e\x32%.cmvr.config.TaskConfigEntry.TaskType\x12\x13\n\x0b\x63onfig_file\x18\x03 \x01(\t\x12\x0e\n\x06\x65nable\x18\x04 \x01(\x08\x12:\n\x08run_mode\x18\x05 \x01(\x0e\x32(.cmvr.config.TaskConfigEntry.TaskRunMode\x12\x18\n\x10\x63ontrol_period_s\x18\x06 \x01(\x01\"u\n\x08TaskType\x12\x15\n\x11TASK_TYPE_UNKNOWN\x10\x00\x12\x1a\n\x16TASK_TYPE_TOUCH_SCREEN\x10\x01\x12\x19\n\x15TASK_TYPE_GRPC_SERVER\x10\x03\"\x04\x08\x02\x10\x02*\x15TASK_TYPE_ARM_CONTROL\"m\n\x0bTaskRunMode\x12\x19\n\x15TASK_RUN_MODE_UNKNOWN\x10\x00\x12\x1f\n\x1bTASK_RUN_MODE_PERIODIC_STEP\x10\x01\x12\"\n\x1eTASK_RUN_MODE_BLOCKING_SERVICE\x10\x02\"@\n\x11TaskManagerConfig\x12+\n\x05tasks\x18\x01 \x03(\x0b\x32\x1c.cmvr.config.TaskConfigEntry\"M\n\x15TaskManagerRootConfig\x12\x34\n\x0ctask_manager\x18\x01 \x01(\x0b\x32\x1e.cmvr.config.TaskManagerConfigb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.task_manager_config.task_manager_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_TASKCONFIGENTRY']._serialized_start=75
+  _globals['_TASKCONFIGENTRY']._serialized_end=510
+  _globals['_TASKCONFIGENTRY_TASKTYPE']._serialized_start=282
+  _globals['_TASKCONFIGENTRY_TASKTYPE']._serialized_end=399
+  _globals['_TASKCONFIGENTRY_TASKRUNMODE']._serialized_start=401
+  _globals['_TASKCONFIGENTRY_TASKRUNMODE']._serialized_end=510
+  _globals['_TASKMANAGERCONFIG']._serialized_start=512
+  _globals['_TASKMANAGERCONFIG']._serialized_end=576
+  _globals['_TASKMANAGERROOTCONFIG']._serialized_start=578
+  _globals['_TASKMANAGERROOTCONFIG']._serialized_end=655
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/task_manager_config/task_manager_config_pb2.pyi b/src/cmvr/config/task_manager_config/task_manager_config_pb2.pyi
new file mode 100644
index 0000000..ecdd172
--- /dev/null
+++ b/src/cmvr/config/task_manager_config/task_manager_config_pb2.pyi
@@ -0,0 +1,52 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class TaskConfigEntry(_message.Message):
+    __slots__ = ("id", "type", "config_file", "enable", "run_mode", "control_period_s")
+    class TaskType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        TASK_TYPE_UNKNOWN: _ClassVar[TaskConfigEntry.TaskType]
+        TASK_TYPE_TOUCH_SCREEN: _ClassVar[TaskConfigEntry.TaskType]
+        TASK_TYPE_GRPC_SERVER: _ClassVar[TaskConfigEntry.TaskType]
+    TASK_TYPE_UNKNOWN: TaskConfigEntry.TaskType
+    TASK_TYPE_TOUCH_SCREEN: TaskConfigEntry.TaskType
+    TASK_TYPE_GRPC_SERVER: TaskConfigEntry.TaskType
+    class TaskRunMode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        TASK_RUN_MODE_UNKNOWN: _ClassVar[TaskConfigEntry.TaskRunMode]
+        TASK_RUN_MODE_PERIODIC_STEP: _ClassVar[TaskConfigEntry.TaskRunMode]
+        TASK_RUN_MODE_BLOCKING_SERVICE: _ClassVar[TaskConfigEntry.TaskRunMode]
+    TASK_RUN_MODE_UNKNOWN: TaskConfigEntry.TaskRunMode
+    TASK_RUN_MODE_PERIODIC_STEP: TaskConfigEntry.TaskRunMode
+    TASK_RUN_MODE_BLOCKING_SERVICE: TaskConfigEntry.TaskRunMode
+    ID_FIELD_NUMBER: _ClassVar[int]
+    TYPE_FIELD_NUMBER: _ClassVar[int]
+    CONFIG_FILE_FIELD_NUMBER: _ClassVar[int]
+    ENABLE_FIELD_NUMBER: _ClassVar[int]
+    RUN_MODE_FIELD_NUMBER: _ClassVar[int]
+    CONTROL_PERIOD_S_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    type: TaskConfigEntry.TaskType
+    config_file: str
+    enable: bool
+    run_mode: TaskConfigEntry.TaskRunMode
+    control_period_s: float
+    def __init__(self, id: _Optional[str] = ..., type: _Optional[_Union[TaskConfigEntry.TaskType, str]] = ..., config_file: _Optional[str] = ..., enable: _Optional[bool] = ..., run_mode: _Optional[_Union[TaskConfigEntry.TaskRunMode, str]] = ..., control_period_s: _Optional[float] = ...) -> None: ...
+
+class TaskManagerConfig(_message.Message):
+    __slots__ = ("tasks",)
+    TASKS_FIELD_NUMBER: _ClassVar[int]
+    tasks: _containers.RepeatedCompositeFieldContainer[TaskConfigEntry]
+    def __init__(self, tasks: _Optional[_Iterable[_Union[TaskConfigEntry, _Mapping]]] = ...) -> None: ...
+
+class TaskManagerRootConfig(_message.Message):
+    __slots__ = ("task_manager",)
+    TASK_MANAGER_FIELD_NUMBER: _ClassVar[int]
+    task_manager: TaskManagerConfig
+    def __init__(self, task_manager: _Optional[_Union[TaskManagerConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/task_manager_config/task_manager_config_pb2_grpc.py b/src/cmvr/config/task_manager_config/task_manager_config_pb2_grpc.py
new file mode 100644
index 0000000..09ebfa7
--- /dev/null
+++ b/src/cmvr/config/task_manager_config/task_manager_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/task_manager_config/task_manager_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/touch_screen_algorithm_config_pb2.py b/src/cmvr/config/touch_screen_algorithm_config_pb2.py
new file mode 100644
index 0000000..d263353
--- /dev/null
+++ b/src/cmvr/config/touch_screen_algorithm_config_pb2.py
@@ -0,0 +1,40 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/touch_screen_algorithm_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/touch_screen_algorithm_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.common import geometry_pb2 as cmvr_dot_common_dot_geometry__pb2
+from cmvr.config import touch_screen_common_config_pb2 as cmvr_dot_config_dot_touch__screen__common__config__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n/cmvr/config/touch_screen_algorithm_config.proto\x12\x0b\x63mvr.config\x1a\x1a\x63mvr/common/geometry.proto\x1a,cmvr/config/touch_screen_common_config.proto\"\xf9\x01\n\x19TouchScreenApriltagConfig\x12\x17\n\ntag_size_m\x18\x01 \x01(\x01H\x00\x88\x01\x01\x12>\n\x0c\x64\x65pth_policy\x18\x02 \x01(\x0e\x32#.cmvr.config.TouchScreenDepthPolicyH\x01\x88\x01\x01\x12K\n\x13target_point_method\x18\x03 \x01(\x0e\x32).cmvr.config.TouchScreenTargetPointMethodH\x02\x88\x01\x01\x42\r\n\x0b_tag_size_mB\x0f\n\r_depth_policyB\x16\n\x14_target_point_method\"\xcc\x05\n\x15TouchScreenIbvsConfig\x12\x18\n\x0b\x63\x61mera_link\x18\x01 \x01(\tH\x00\x88\x01\x01\x12\x13\n\x06lambda\x18\x02 \x01(\x01H\x01\x88\x01\x01\x12\x0f\n\x02mu\x18\x03 \x01(\x01H\x02\x88\x01\x01\x12\x15\n\x08qdot_max\x18\x04 \x01(\x01H\x03\x88\x01\x01\x12 \n\x05vmax6\x18\x05 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12 \n\x05\x61max6\x18\x06 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x1f\n\x12twist_filter_alpha\x18\x07 \x01(\x01H\x04\x88\x01\x01\x12)\n\x1c\x65nable_joint_limit_avoidance\x18\x08 \x01(\x08H\x05\x88\x01\x01\x12\'\n\x1ajoint_limit_avoidance_gain\x18\t \x01(\x01H\x06\x88\x01\x01\x12/\n\"joint_limit_avoidance_margin_ratio\x18\n \x01(\x01H\x07\x88\x01\x01\x12+\n\x1ejoint_limit_avoidance_max_push\x18\x0b \x01(\x01H\x08\x88\x01\x01\x12+\n\x10r_camera_to_visp\x18\x0c \x01(\x0b\x32\x11.cmvr.common.Mat3\x12+\n\x10r_camera_to_urdf\x18\r \x01(\x0b\x32\x11.cmvr.common.Mat3\x12\x1b\n\x13\x63ontrol_joint_names\x18\x0e \x03(\tB\x0e\n\x0c_camera_linkB\t\n\x07_lambdaB\x05\n\x03_muB\x0b\n\t_qdot_maxB\x15\n\x13_twist_filter_alphaB\x1f\n\x1d_enable_joint_limit_avoidanceB\x1d\n\x1b_joint_limit_avoidance_gainB%\n#_joint_limit_avoidance_margin_ratioB!\n\x1f_joint_limit_avoidance_max_pushb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.touch_screen_algorithm_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_TOUCHSCREENAPRILTAGCONFIG']._serialized_start=139
+  _globals['_TOUCHSCREENAPRILTAGCONFIG']._serialized_end=388
+  _globals['_TOUCHSCREENIBVSCONFIG']._serialized_start=391
+  _globals['_TOUCHSCREENIBVSCONFIG']._serialized_end=1107
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/touch_screen_algorithm_config_pb2.pyi b/src/cmvr/config/touch_screen_algorithm_config_pb2.pyi
new file mode 100644
index 0000000..3d0c683
--- /dev/null
+++ b/src/cmvr/config/touch_screen_algorithm_config_pb2.pyi
@@ -0,0 +1,50 @@
+from cmvr.common import geometry_pb2 as _geometry_pb2
+from cmvr.config import touch_screen_common_config_pb2 as _touch_screen_common_config_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class TouchScreenApriltagConfig(_message.Message):
+    __slots__ = ("tag_size_m", "depth_policy", "target_point_method")
+    TAG_SIZE_M_FIELD_NUMBER: _ClassVar[int]
+    DEPTH_POLICY_FIELD_NUMBER: _ClassVar[int]
+    TARGET_POINT_METHOD_FIELD_NUMBER: _ClassVar[int]
+    tag_size_m: float
+    depth_policy: _touch_screen_common_config_pb2.TouchScreenDepthPolicy
+    target_point_method: _touch_screen_common_config_pb2.TouchScreenTargetPointMethod
+    def __init__(self, tag_size_m: _Optional[float] = ..., depth_policy: _Optional[_Union[_touch_screen_common_config_pb2.TouchScreenDepthPolicy, str]] = ..., target_point_method: _Optional[_Union[_touch_screen_common_config_pb2.TouchScreenTargetPointMethod, str]] = ...) -> None: ...
+
+class TouchScreenIbvsConfig(_message.Message):
+    __slots__ = ("camera_link", "mu", "qdot_max", "vmax6", "amax6", "twist_filter_alpha", "enable_joint_limit_avoidance", "joint_limit_avoidance_gain", "joint_limit_avoidance_margin_ratio", "joint_limit_avoidance_max_push", "r_camera_to_visp", "r_camera_to_urdf", "control_joint_names")
+    CAMERA_LINK_FIELD_NUMBER: _ClassVar[int]
+    LAMBDA_FIELD_NUMBER: _ClassVar[int]
+    MU_FIELD_NUMBER: _ClassVar[int]
+    QDOT_MAX_FIELD_NUMBER: _ClassVar[int]
+    VMAX6_FIELD_NUMBER: _ClassVar[int]
+    AMAX6_FIELD_NUMBER: _ClassVar[int]
+    TWIST_FILTER_ALPHA_FIELD_NUMBER: _ClassVar[int]
+    ENABLE_JOINT_LIMIT_AVOIDANCE_FIELD_NUMBER: _ClassVar[int]
+    JOINT_LIMIT_AVOIDANCE_GAIN_FIELD_NUMBER: _ClassVar[int]
+    JOINT_LIMIT_AVOIDANCE_MARGIN_RATIO_FIELD_NUMBER: _ClassVar[int]
+    JOINT_LIMIT_AVOIDANCE_MAX_PUSH_FIELD_NUMBER: _ClassVar[int]
+    R_CAMERA_TO_VISP_FIELD_NUMBER: _ClassVar[int]
+    R_CAMERA_TO_URDF_FIELD_NUMBER: _ClassVar[int]
+    CONTROL_JOINT_NAMES_FIELD_NUMBER: _ClassVar[int]
+    camera_link: str
+    mu: float
+    qdot_max: float
+    vmax6: _geometry_pb2.Vec6
+    amax6: _geometry_pb2.Vec6
+    twist_filter_alpha: float
+    enable_joint_limit_avoidance: bool
+    joint_limit_avoidance_gain: float
+    joint_limit_avoidance_margin_ratio: float
+    joint_limit_avoidance_max_push: float
+    r_camera_to_visp: _geometry_pb2.Mat3
+    r_camera_to_urdf: _geometry_pb2.Mat3
+    control_joint_names: _containers.RepeatedScalarFieldContainer[str]
+    def __init__(self, camera_link: _Optional[str] = ..., mu: _Optional[float] = ..., qdot_max: _Optional[float] = ..., vmax6: _Optional[_Union[_geometry_pb2.Vec6, _Mapping]] = ..., amax6: _Optional[_Union[_geometry_pb2.Vec6, _Mapping]] = ..., twist_filter_alpha: _Optional[float] = ..., enable_joint_limit_avoidance: _Optional[bool] = ..., joint_limit_avoidance_gain: _Optional[float] = ..., joint_limit_avoidance_margin_ratio: _Optional[float] = ..., joint_limit_avoidance_max_push: _Optional[float] = ..., r_camera_to_visp: _Optional[_Union[_geometry_pb2.Mat3, _Mapping]] = ..., r_camera_to_urdf: _Optional[_Union[_geometry_pb2.Mat3, _Mapping]] = ..., control_joint_names: _Optional[_Iterable[str]] = ..., **kwargs) -> None: ...
diff --git a/src/cmvr/config/touch_screen_algorithm_config_pb2_grpc.py b/src/cmvr/config/touch_screen_algorithm_config_pb2_grpc.py
new file mode 100644
index 0000000..139f733
--- /dev/null
+++ b/src/cmvr/config/touch_screen_algorithm_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/touch_screen_algorithm_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/touch_screen_common_config_pb2.py b/src/cmvr/config/touch_screen_common_config_pb2.py
new file mode 100644
index 0000000..2b9d8e9
--- /dev/null
+++ b/src/cmvr/config/touch_screen_common_config_pb2.py
@@ -0,0 +1,46 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/touch_screen_common_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/touch_screen_common_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n,cmvr/config/touch_screen_common_config.proto\x12\x0b\x63mvr.config*\x89\x01\n\x16TouchScreenDepthPolicy\x12\"\n\x1eTOUCH_SCREEN_DEPTH_POLICY_NONE\x10\x00\x12$\n TOUCH_SCREEN_DEPTH_POLICY_PREFER\x10\x01\x12%\n!TOUCH_SCREEN_DEPTH_POLICY_REQUIRE\x10\x02*\x80\x01\n\x1cTouchScreenTargetPointMethod\x12.\n*TOUCH_SCREEN_TARGET_POINT_METHOD_TAG_PLANE\x10\x00\x12\x30\n,TOUCH_SCREEN_TARGET_POINT_METHOD_DEPTH_IMAGE\x10\x01*\xcb\x01\n\x15TouchScreenFingerType\x12\"\n\x1eTOUCH_SCREEN_FINGER_TYPE_PINKY\x10\x00\x12!\n\x1dTOUCH_SCREEN_FINGER_TYPE_RING\x10\x01\x12#\n\x1fTOUCH_SCREEN_FINGER_TYPE_MIDDLE\x10\x02\x12\"\n\x1eTOUCH_SCREEN_FINGER_TYPE_INDEX\x10\x03\x12\"\n\x1eTOUCH_SCREEN_FINGER_TYPE_THUMB\x10\x04*\xba\x01\n\x18TouchScreenTactileRegion\x12#\n\x1fTOUCH_SCREEN_TACTILE_REGION_TIP\x10\x00\x12&\n\"TOUCH_SCREEN_TACTILE_REGION_FINGER\x10\x01\x12#\n\x1fTOUCH_SCREEN_TACTILE_REGION_PAD\x10\x02\x12,\n(TOUCH_SCREEN_TACTILE_REGION_THUMB_MIDDLE\x10\x04*r\n\x1bTouchScreenTactileCriterion\x12%\n!TOUCH_SCREEN_TACTILE_CRITERION_FZ\x10\x00\x12,\n(TOUCH_SCREEN_TACTILE_CRITERION_MAGNITUDE\x10\x01*\xa0\x01\n\x14TouchScreenAlignMode\x12-\n)TOUCH_SCREEN_ALIGN_MODE_POSE_AND_POSITION\x10\x00\x12.\n*TOUCH_SCREEN_ALIGN_MODE_RX_RY_AND_POSITION\x10\x01\x12)\n%TOUCH_SCREEN_ALIGN_MODE_POSITION_ONLY\x10\x02\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.touch_screen_common_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_TOUCHSCREENDEPTHPOLICY']._serialized_start=62
+  _globals['_TOUCHSCREENDEPTHPOLICY']._serialized_end=199
+  _globals['_TOUCHSCREENTARGETPOINTMETHOD']._serialized_start=202
+  _globals['_TOUCHSCREENTARGETPOINTMETHOD']._serialized_end=330
+  _globals['_TOUCHSCREENFINGERTYPE']._serialized_start=333
+  _globals['_TOUCHSCREENFINGERTYPE']._serialized_end=536
+  _globals['_TOUCHSCREENTACTILEREGION']._serialized_start=539
+  _globals['_TOUCHSCREENTACTILEREGION']._serialized_end=725
+  _globals['_TOUCHSCREENTACTILECRITERION']._serialized_start=727
+  _globals['_TOUCHSCREENTACTILECRITERION']._serialized_end=841
+  _globals['_TOUCHSCREENALIGNMODE']._serialized_start=844
+  _globals['_TOUCHSCREENALIGNMODE']._serialized_end=1004
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/touch_screen_common_config_pb2.pyi b/src/cmvr/config/touch_screen_common_config_pb2.pyi
new file mode 100644
index 0000000..dbbcdb3
--- /dev/null
+++ b/src/cmvr/config/touch_screen_common_config_pb2.pyi
@@ -0,0 +1,61 @@
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from typing import ClassVar as _ClassVar
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class TouchScreenDepthPolicy(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    TOUCH_SCREEN_DEPTH_POLICY_NONE: _ClassVar[TouchScreenDepthPolicy]
+    TOUCH_SCREEN_DEPTH_POLICY_PREFER: _ClassVar[TouchScreenDepthPolicy]
+    TOUCH_SCREEN_DEPTH_POLICY_REQUIRE: _ClassVar[TouchScreenDepthPolicy]
+
+class TouchScreenTargetPointMethod(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    TOUCH_SCREEN_TARGET_POINT_METHOD_TAG_PLANE: _ClassVar[TouchScreenTargetPointMethod]
+    TOUCH_SCREEN_TARGET_POINT_METHOD_DEPTH_IMAGE: _ClassVar[TouchScreenTargetPointMethod]
+
+class TouchScreenFingerType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    TOUCH_SCREEN_FINGER_TYPE_PINKY: _ClassVar[TouchScreenFingerType]
+    TOUCH_SCREEN_FINGER_TYPE_RING: _ClassVar[TouchScreenFingerType]
+    TOUCH_SCREEN_FINGER_TYPE_MIDDLE: _ClassVar[TouchScreenFingerType]
+    TOUCH_SCREEN_FINGER_TYPE_INDEX: _ClassVar[TouchScreenFingerType]
+    TOUCH_SCREEN_FINGER_TYPE_THUMB: _ClassVar[TouchScreenFingerType]
+
+class TouchScreenTactileRegion(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    TOUCH_SCREEN_TACTILE_REGION_TIP: _ClassVar[TouchScreenTactileRegion]
+    TOUCH_SCREEN_TACTILE_REGION_FINGER: _ClassVar[TouchScreenTactileRegion]
+    TOUCH_SCREEN_TACTILE_REGION_PAD: _ClassVar[TouchScreenTactileRegion]
+    TOUCH_SCREEN_TACTILE_REGION_THUMB_MIDDLE: _ClassVar[TouchScreenTactileRegion]
+
+class TouchScreenTactileCriterion(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    TOUCH_SCREEN_TACTILE_CRITERION_FZ: _ClassVar[TouchScreenTactileCriterion]
+    TOUCH_SCREEN_TACTILE_CRITERION_MAGNITUDE: _ClassVar[TouchScreenTactileCriterion]
+
+class TouchScreenAlignMode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    TOUCH_SCREEN_ALIGN_MODE_POSE_AND_POSITION: _ClassVar[TouchScreenAlignMode]
+    TOUCH_SCREEN_ALIGN_MODE_RX_RY_AND_POSITION: _ClassVar[TouchScreenAlignMode]
+    TOUCH_SCREEN_ALIGN_MODE_POSITION_ONLY: _ClassVar[TouchScreenAlignMode]
+TOUCH_SCREEN_DEPTH_POLICY_NONE: TouchScreenDepthPolicy
+TOUCH_SCREEN_DEPTH_POLICY_PREFER: TouchScreenDepthPolicy
+TOUCH_SCREEN_DEPTH_POLICY_REQUIRE: TouchScreenDepthPolicy
+TOUCH_SCREEN_TARGET_POINT_METHOD_TAG_PLANE: TouchScreenTargetPointMethod
+TOUCH_SCREEN_TARGET_POINT_METHOD_DEPTH_IMAGE: TouchScreenTargetPointMethod
+TOUCH_SCREEN_FINGER_TYPE_PINKY: TouchScreenFingerType
+TOUCH_SCREEN_FINGER_TYPE_RING: TouchScreenFingerType
+TOUCH_SCREEN_FINGER_TYPE_MIDDLE: TouchScreenFingerType
+TOUCH_SCREEN_FINGER_TYPE_INDEX: TouchScreenFingerType
+TOUCH_SCREEN_FINGER_TYPE_THUMB: TouchScreenFingerType
+TOUCH_SCREEN_TACTILE_REGION_TIP: TouchScreenTactileRegion
+TOUCH_SCREEN_TACTILE_REGION_FINGER: TouchScreenTactileRegion
+TOUCH_SCREEN_TACTILE_REGION_PAD: TouchScreenTactileRegion
+TOUCH_SCREEN_TACTILE_REGION_THUMB_MIDDLE: TouchScreenTactileRegion
+TOUCH_SCREEN_TACTILE_CRITERION_FZ: TouchScreenTactileCriterion
+TOUCH_SCREEN_TACTILE_CRITERION_MAGNITUDE: TouchScreenTactileCriterion
+TOUCH_SCREEN_ALIGN_MODE_POSE_AND_POSITION: TouchScreenAlignMode
+TOUCH_SCREEN_ALIGN_MODE_RX_RY_AND_POSITION: TouchScreenAlignMode
+TOUCH_SCREEN_ALIGN_MODE_POSITION_ONLY: TouchScreenAlignMode
diff --git a/src/cmvr/config/touch_screen_common_config_pb2_grpc.py b/src/cmvr/config/touch_screen_common_config_pb2_grpc.py
new file mode 100644
index 0000000..332da69
--- /dev/null
+++ b/src/cmvr/config/touch_screen_common_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/touch_screen_common_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/config/touch_screen_task_config/__pycache__/touch_screen_task_config_pb2.cpython-310.pyc b/src/cmvr/config/touch_screen_task_config/__pycache__/touch_screen_task_config_pb2.cpython-310.pyc
new file mode 100644
index 0000000..c16fa08
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diff --git a/src/cmvr/config/touch_screen_task_config/__pycache__/touch_screen_task_config_pb2.cpython-312.pyc b/src/cmvr/config/touch_screen_task_config/__pycache__/touch_screen_task_config_pb2.cpython-312.pyc
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index 0000000..1b14773
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diff --git a/src/cmvr/config/touch_screen_task_config/__pycache__/touch_screen_task_config_pb2_grpc.cpython-310.pyc b/src/cmvr/config/touch_screen_task_config/__pycache__/touch_screen_task_config_pb2_grpc.cpython-310.pyc
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diff --git a/src/cmvr/config/touch_screen_task_config/__pycache__/touch_screen_task_config_pb2_grpc.cpython-312.pyc b/src/cmvr/config/touch_screen_task_config/__pycache__/touch_screen_task_config_pb2_grpc.cpython-312.pyc
new file mode 100644
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diff --git a/src/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2.py b/src/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2.py
new file mode 100644
index 0000000..b2c02fb
--- /dev/null
+++ b/src/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2.py
@@ -0,0 +1,63 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/config/touch_screen_task_config/touch_screen_task_config.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/config/touch_screen_task_config/touch_screen_task_config.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.common import geometry_pb2 as cmvr_dot_common_dot_geometry__pb2
+from cmvr.config import touch_screen_common_config_pb2 as cmvr_dot_config_dot_touch__screen__common__config__pb2
+from cmvr.config import touch_screen_algorithm_config_pb2 as cmvr_dot_config_dot_touch__screen__algorithm__config__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\nCcmvr/config/touch_screen_task_config/touch_screen_task_config.proto\x12\x0b\x63mvr.config\x1a\x1a\x63mvr/common/geometry.proto\x1a,cmvr/config/touch_screen_common_config.proto\x1a/cmvr/config/touch_screen_algorithm_config.proto\"]\n\x19TouchScreenInitJointPoint\x12\x17\n\njoint_name\x18\x01 \x01(\tH\x00\x88\x01\x01\x12\x10\n\x03rad\x18\x02 \x01(\x01H\x01\x88\x01\x01\x42\r\n\x0b_joint_nameB\x06\n\x04_rad\"\x9c\x01\n\x1cTouchScreenTaskDevicesConfig\x12\x13\n\x06\x61rm_id\x18\x04 \x01(\tH\x00\x88\x01\x01\x12\x17\n\ndexhand_id\x18\x02 \x01(\tH\x01\x88\x01\x01\x12\x16\n\tcamera_id\x18\x03 \x01(\tH\x02\x88\x01\x01\x42\t\n\x07_arm_idB\r\n\x0b_dexhand_idB\x0c\n\n_camera_idJ\x04\x08\x01\x10\x02R\x08robot_id\"\x8e\x02\n#TouchScreenTaskInitializationConfig\x12\x19\n\x0c\x62\x65\x66ore_start\x18\x01 \x01(\x08H\x00\x88\x01\x01\x12\x19\n\x0c\x61\x66ter_finish\x18\x02 \x01(\x08H\x01\x88\x01\x01\x12?\n\x0fjoint_positions\x18\x03 \x03(\x0b\x32&.cmvr.config.TouchScreenInitJointPoint\x12\x15\n\x08velocity\x18\x04 \x01(\x01H\x02\x88\x01\x01\x12\x19\n\x0c\x61\x63\x63\x65leration\x18\x05 \x01(\x01H\x03\x88\x01\x01\x42\x0f\n\r_before_startB\x0f\n\r_after_finishB\x0b\n\t_velocityB\x0f\n\r_acceleration\"[\n\x1fTouchScreenTaskPerceptionConfig\x12\x38\n\x08\x61priltag\x18\x01 \x01(\x0b\x32&.cmvr.config.TouchScreenApriltagConfig\"\xbc\x01\n TouchScreenAlignmentTargetConfig\x12-\n\x12position_in_camera\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec3\x12*\n\x0frotation_vector\x18\x02 \x01(\x0b\x32\x11.cmvr.common.Vec3\x12\x34\n\x04mode\x18\x03 \x01(\x0e\x32!.cmvr.config.TouchScreenAlignModeH\x00\x88\x01\x01\x42\x07\n\x05_mode\"\xdb\x02\n\x1eTouchScreenTaskAlignmentConfig\x12\x30\n\x04ibvs\x18\x02 \x01(\x0b\x32\".cmvr.config.TouchScreenIbvsConfig\x12=\n\x06target\x18\x03 \x01(\x0b\x32-.cmvr.config.TouchScreenAlignmentTargetConfig\x12*\n\x0f\x65rror_threshold\x18\x04 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x1a\n\rstable_frames\x18\x05 \x01(\x05H\x00\x88\x01\x01\x12\x16\n\ttimeout_s\x18\x06 \x01(\x01H\x01\x88\x01\x01\x12\x1f\n\x12pause_when_reached\x18\x07 \x01(\x08H\x02\x88\x01\x01\x42\x10\n\x0e_stable_framesB\x0c\n\n_timeout_sB\x15\n\x13_pause_when_reachedJ\x04\x08\x01\x10\x02R\nkinematics\"\xa1\x01\n\x1cTouchScreenTouchSpeedLConfig\x12%\n\ntwist_tool\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x19\n\x0c\x61\x63\x63\x65leration\x18\x02 \x01(\x01H\x00\x88\x01\x01\x12\x1b\n\x0emax_distance_m\x18\x03 \x01(\x01H\x01\x88\x01\x01\x42\x0f\n\r_accelerationB\x11\n\x0f_max_distance_m\"\xfb\x01\n\x1bTouchScreenTouchMoveLConfig\x12)\n\x0e\x64irection_tool\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x17\n\ndistance_m\x18\x02 \x01(\x01H\x00\x88\x01\x01\x12\x15\n\x08velocity\x18\x03 \x01(\x01H\x01\x88\x01\x01\x12\x19\n\x0c\x61\x63\x63\x65leration\x18\x04 \x01(\x01H\x02\x88\x01\x01\x12\x11\n\x04jerk\x18\x05 \x01(\x01H\x03\x88\x01\x01\x12\x1d\n\x15joint_velocity_limits\x18\x06 \x03(\x01\x42\r\n\x0b_distance_mB\x0b\n\t_velocityB\x0f\n\r_accelerationB\x07\n\x05_jerk\"\xae\x02\n\x1fTouchScreenTactileTriggerConfig\x12\x37\n\x06\x66inger\x18\x01 \x01(\x0e\x32\".cmvr.config.TouchScreenFingerTypeH\x00\x88\x01\x01\x12:\n\x06region\x18\x02 \x01(\x0e\x32%.cmvr.config.TouchScreenTactileRegionH\x01\x88\x01\x01\x12@\n\tcriterion\x18\x03 \x01(\x0e\x32(.cmvr.config.TouchScreenTactileCriterionH\x02\x88\x01\x01\x12\x1c\n\x0f\x66orce_threshold\x18\x04 \x01(\x01H\x03\x88\x01\x01\x42\t\n\x07_fingerB\t\n\x07_regionB\x0c\n\n_criterionB\x12\n\x10_force_threshold\"\x8b\x02\n\x1aTouchScreenTaskTouchConfig\x12<\n\x07speed_l\x18\x01 \x01(\x0b\x32).cmvr.config.TouchScreenTouchSpeedLConfigH\x00\x12:\n\x06move_l\x18\x02 \x01(\x0b\x32(.cmvr.config.TouchScreenTouchMoveLConfigH\x00\x12=\n\x07tactile\x18\x03 \x01(\x0b\x32,.cmvr.config.TouchScreenTactileTriggerConfig\x12\x19\n\x0c\x64well_time_s\x18\x04 \x01(\x01H\x01\x88\x01\x01\x42\x08\n\x06motionB\x0f\n\r_dwell_time_s\"\x99\x01\n\x1cTouchScreenTaskRetractConfig\x12%\n\ntwist_tool\x18\x01 \x01(\x0b\x32\x11.cmvr.common.Vec6\x12\x19\n\x0c\x61\x63\x63\x65leration\x18\x02 \x01(\x01H\x00\x88\x01\x01\x12\x17\n\nduration_s\x18\x03 \x01(\x01H\x01\x88\x01\x01\x42\x0f\n\r_accelerationB\r\n\x0b_duration_s\"\xab\x03\n\x15TouchScreenTaskConfig\x12:\n\x07\x64\x65vices\x18\x01 \x01(\x0b\x32).cmvr.config.TouchScreenTaskDevicesConfig\x12H\n\x0einitialization\x18\x02 \x01(\x0b\x32\x30.cmvr.config.TouchScreenTaskInitializationConfig\x12@\n\nperception\x18\x03 \x01(\x0b\x32,.cmvr.config.TouchScreenTaskPerceptionConfig\x12>\n\talignment\x18\x04 \x01(\x0b\x32+.cmvr.config.TouchScreenTaskAlignmentConfig\x12\x36\n\x05touch\x18\x05 \x01(\x0b\x32\'.cmvr.config.TouchScreenTaskTouchConfig\x12:\n\x07retract\x18\x06 \x01(\x0b\x32).cmvr.config.TouchScreenTaskRetractConfig\x12\x0f\n\x02id\x18\x07 \x01(\tH\x00\x88\x01\x01\x42\x05\n\x03_id\"Z\n\x19TouchScreenTaskRootConfig\x12=\n\x11touch_screen_task\x18\x01 \x01(\x0b\x32\".cmvr.config.TouchScreenTaskConfigb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.config.touch_screen_task_config.touch_screen_task_config_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_TOUCHSCREENINITJOINTPOINT']._serialized_start=207
+  _globals['_TOUCHSCREENINITJOINTPOINT']._serialized_end=300
+  _globals['_TOUCHSCREENTASKDEVICESCONFIG']._serialized_start=303
+  _globals['_TOUCHSCREENTASKDEVICESCONFIG']._serialized_end=459
+  _globals['_TOUCHSCREENTASKINITIALIZATIONCONFIG']._serialized_start=462
+  _globals['_TOUCHSCREENTASKINITIALIZATIONCONFIG']._serialized_end=732
+  _globals['_TOUCHSCREENTASKPERCEPTIONCONFIG']._serialized_start=734
+  _globals['_TOUCHSCREENTASKPERCEPTIONCONFIG']._serialized_end=825
+  _globals['_TOUCHSCREENALIGNMENTTARGETCONFIG']._serialized_start=828
+  _globals['_TOUCHSCREENALIGNMENTTARGETCONFIG']._serialized_end=1016
+  _globals['_TOUCHSCREENTASKALIGNMENTCONFIG']._serialized_start=1019
+  _globals['_TOUCHSCREENTASKALIGNMENTCONFIG']._serialized_end=1366
+  _globals['_TOUCHSCREENTOUCHSPEEDLCONFIG']._serialized_start=1369
+  _globals['_TOUCHSCREENTOUCHSPEEDLCONFIG']._serialized_end=1530
+  _globals['_TOUCHSCREENTOUCHMOVELCONFIG']._serialized_start=1533
+  _globals['_TOUCHSCREENTOUCHMOVELCONFIG']._serialized_end=1784
+  _globals['_TOUCHSCREENTACTILETRIGGERCONFIG']._serialized_start=1787
+  _globals['_TOUCHSCREENTACTILETRIGGERCONFIG']._serialized_end=2089
+  _globals['_TOUCHSCREENTASKTOUCHCONFIG']._serialized_start=2092
+  _globals['_TOUCHSCREENTASKTOUCHCONFIG']._serialized_end=2359
+  _globals['_TOUCHSCREENTASKRETRACTCONFIG']._serialized_start=2362
+  _globals['_TOUCHSCREENTASKRETRACTCONFIG']._serialized_end=2515
+  _globals['_TOUCHSCREENTASKCONFIG']._serialized_start=2518
+  _globals['_TOUCHSCREENTASKCONFIG']._serialized_end=2945
+  _globals['_TOUCHSCREENTASKROOTCONFIG']._serialized_start=2947
+  _globals['_TOUCHSCREENTASKROOTCONFIG']._serialized_end=3037
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2.pyi b/src/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2.pyi
new file mode 100644
index 0000000..aa1f378
--- /dev/null
+++ b/src/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2.pyi
@@ -0,0 +1,158 @@
+from cmvr.common import geometry_pb2 as _geometry_pb2
+from cmvr.config import touch_screen_common_config_pb2 as _touch_screen_common_config_pb2
+from cmvr.config import touch_screen_algorithm_config_pb2 as _touch_screen_algorithm_config_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class TouchScreenInitJointPoint(_message.Message):
+    __slots__ = ("joint_name", "rad")
+    JOINT_NAME_FIELD_NUMBER: _ClassVar[int]
+    RAD_FIELD_NUMBER: _ClassVar[int]
+    joint_name: str
+    rad: float
+    def __init__(self, joint_name: _Optional[str] = ..., rad: _Optional[float] = ...) -> None: ...
+
+class TouchScreenTaskDevicesConfig(_message.Message):
+    __slots__ = ("arm_id", "dexhand_id", "camera_id")
+    ARM_ID_FIELD_NUMBER: _ClassVar[int]
+    DEXHAND_ID_FIELD_NUMBER: _ClassVar[int]
+    CAMERA_ID_FIELD_NUMBER: _ClassVar[int]
+    arm_id: str
+    dexhand_id: str
+    camera_id: str
+    def __init__(self, arm_id: _Optional[str] = ..., dexhand_id: _Optional[str] = ..., camera_id: _Optional[str] = ...) -> None: ...
+
+class TouchScreenTaskInitializationConfig(_message.Message):
+    __slots__ = ("before_start", "after_finish", "joint_positions", "velocity", "acceleration")
+    BEFORE_START_FIELD_NUMBER: _ClassVar[int]
+    AFTER_FINISH_FIELD_NUMBER: _ClassVar[int]
+    JOINT_POSITIONS_FIELD_NUMBER: _ClassVar[int]
+    VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    ACCELERATION_FIELD_NUMBER: _ClassVar[int]
+    before_start: bool
+    after_finish: bool
+    joint_positions: _containers.RepeatedCompositeFieldContainer[TouchScreenInitJointPoint]
+    velocity: float
+    acceleration: float
+    def __init__(self, before_start: _Optional[bool] = ..., after_finish: _Optional[bool] = ..., joint_positions: _Optional[_Iterable[_Union[TouchScreenInitJointPoint, _Mapping]]] = ..., velocity: _Optional[float] = ..., acceleration: _Optional[float] = ...) -> None: ...
+
+class TouchScreenTaskPerceptionConfig(_message.Message):
+    __slots__ = ("apriltag",)
+    APRILTAG_FIELD_NUMBER: _ClassVar[int]
+    apriltag: _touch_screen_algorithm_config_pb2.TouchScreenApriltagConfig
+    def __init__(self, apriltag: _Optional[_Union[_touch_screen_algorithm_config_pb2.TouchScreenApriltagConfig, _Mapping]] = ...) -> None: ...
+
+class TouchScreenAlignmentTargetConfig(_message.Message):
+    __slots__ = ("position_in_camera", "rotation_vector", "mode")
+    POSITION_IN_CAMERA_FIELD_NUMBER: _ClassVar[int]
+    ROTATION_VECTOR_FIELD_NUMBER: _ClassVar[int]
+    MODE_FIELD_NUMBER: _ClassVar[int]
+    position_in_camera: _geometry_pb2.Vec3
+    rotation_vector: _geometry_pb2.Vec3
+    mode: _touch_screen_common_config_pb2.TouchScreenAlignMode
+    def __init__(self, position_in_camera: _Optional[_Union[_geometry_pb2.Vec3, _Mapping]] = ..., rotation_vector: _Optional[_Union[_geometry_pb2.Vec3, _Mapping]] = ..., mode: _Optional[_Union[_touch_screen_common_config_pb2.TouchScreenAlignMode, str]] = ...) -> None: ...
+
+class TouchScreenTaskAlignmentConfig(_message.Message):
+    __slots__ = ("ibvs", "target", "error_threshold", "stable_frames", "timeout_s", "pause_when_reached")
+    IBVS_FIELD_NUMBER: _ClassVar[int]
+    TARGET_FIELD_NUMBER: _ClassVar[int]
+    ERROR_THRESHOLD_FIELD_NUMBER: _ClassVar[int]
+    STABLE_FRAMES_FIELD_NUMBER: _ClassVar[int]
+    TIMEOUT_S_FIELD_NUMBER: _ClassVar[int]
+    PAUSE_WHEN_REACHED_FIELD_NUMBER: _ClassVar[int]
+    ibvs: _touch_screen_algorithm_config_pb2.TouchScreenIbvsConfig
+    target: TouchScreenAlignmentTargetConfig
+    error_threshold: _geometry_pb2.Vec6
+    stable_frames: int
+    timeout_s: float
+    pause_when_reached: bool
+    def __init__(self, ibvs: _Optional[_Union[_touch_screen_algorithm_config_pb2.TouchScreenIbvsConfig, _Mapping]] = ..., target: _Optional[_Union[TouchScreenAlignmentTargetConfig, _Mapping]] = ..., error_threshold: _Optional[_Union[_geometry_pb2.Vec6, _Mapping]] = ..., stable_frames: _Optional[int] = ..., timeout_s: _Optional[float] = ..., pause_when_reached: _Optional[bool] = ...) -> None: ...
+
+class TouchScreenTouchSpeedLConfig(_message.Message):
+    __slots__ = ("twist_tool", "acceleration", "max_distance_m")
+    TWIST_TOOL_FIELD_NUMBER: _ClassVar[int]
+    ACCELERATION_FIELD_NUMBER: _ClassVar[int]
+    MAX_DISTANCE_M_FIELD_NUMBER: _ClassVar[int]
+    twist_tool: _geometry_pb2.Vec6
+    acceleration: float
+    max_distance_m: float
+    def __init__(self, twist_tool: _Optional[_Union[_geometry_pb2.Vec6, _Mapping]] = ..., acceleration: _Optional[float] = ..., max_distance_m: _Optional[float] = ...) -> None: ...
+
+class TouchScreenTouchMoveLConfig(_message.Message):
+    __slots__ = ("direction_tool", "distance_m", "velocity", "acceleration", "jerk", "joint_velocity_limits")
+    DIRECTION_TOOL_FIELD_NUMBER: _ClassVar[int]
+    DISTANCE_M_FIELD_NUMBER: _ClassVar[int]
+    VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    ACCELERATION_FIELD_NUMBER: _ClassVar[int]
+    JERK_FIELD_NUMBER: _ClassVar[int]
+    JOINT_VELOCITY_LIMITS_FIELD_NUMBER: _ClassVar[int]
+    direction_tool: _geometry_pb2.Vec6
+    distance_m: float
+    velocity: float
+    acceleration: float
+    jerk: float
+    joint_velocity_limits: _containers.RepeatedScalarFieldContainer[float]
+    def __init__(self, direction_tool: _Optional[_Union[_geometry_pb2.Vec6, _Mapping]] = ..., distance_m: _Optional[float] = ..., velocity: _Optional[float] = ..., acceleration: _Optional[float] = ..., jerk: _Optional[float] = ..., joint_velocity_limits: _Optional[_Iterable[float]] = ...) -> None: ...
+
+class TouchScreenTactileTriggerConfig(_message.Message):
+    __slots__ = ("finger", "region", "criterion", "force_threshold")
+    FINGER_FIELD_NUMBER: _ClassVar[int]
+    REGION_FIELD_NUMBER: _ClassVar[int]
+    CRITERION_FIELD_NUMBER: _ClassVar[int]
+    FORCE_THRESHOLD_FIELD_NUMBER: _ClassVar[int]
+    finger: _touch_screen_common_config_pb2.TouchScreenFingerType
+    region: _touch_screen_common_config_pb2.TouchScreenTactileRegion
+    criterion: _touch_screen_common_config_pb2.TouchScreenTactileCriterion
+    force_threshold: float
+    def __init__(self, finger: _Optional[_Union[_touch_screen_common_config_pb2.TouchScreenFingerType, str]] = ..., region: _Optional[_Union[_touch_screen_common_config_pb2.TouchScreenTactileRegion, str]] = ..., criterion: _Optional[_Union[_touch_screen_common_config_pb2.TouchScreenTactileCriterion, str]] = ..., force_threshold: _Optional[float] = ...) -> None: ...
+
+class TouchScreenTaskTouchConfig(_message.Message):
+    __slots__ = ("speed_l", "move_l", "tactile", "dwell_time_s")
+    SPEED_L_FIELD_NUMBER: _ClassVar[int]
+    MOVE_L_FIELD_NUMBER: _ClassVar[int]
+    TACTILE_FIELD_NUMBER: _ClassVar[int]
+    DWELL_TIME_S_FIELD_NUMBER: _ClassVar[int]
+    speed_l: TouchScreenTouchSpeedLConfig
+    move_l: TouchScreenTouchMoveLConfig
+    tactile: TouchScreenTactileTriggerConfig
+    dwell_time_s: float
+    def __init__(self, speed_l: _Optional[_Union[TouchScreenTouchSpeedLConfig, _Mapping]] = ..., move_l: _Optional[_Union[TouchScreenTouchMoveLConfig, _Mapping]] = ..., tactile: _Optional[_Union[TouchScreenTactileTriggerConfig, _Mapping]] = ..., dwell_time_s: _Optional[float] = ...) -> None: ...
+
+class TouchScreenTaskRetractConfig(_message.Message):
+    __slots__ = ("twist_tool", "acceleration", "duration_s")
+    TWIST_TOOL_FIELD_NUMBER: _ClassVar[int]
+    ACCELERATION_FIELD_NUMBER: _ClassVar[int]
+    DURATION_S_FIELD_NUMBER: _ClassVar[int]
+    twist_tool: _geometry_pb2.Vec6
+    acceleration: float
+    duration_s: float
+    def __init__(self, twist_tool: _Optional[_Union[_geometry_pb2.Vec6, _Mapping]] = ..., acceleration: _Optional[float] = ..., duration_s: _Optional[float] = ...) -> None: ...
+
+class TouchScreenTaskConfig(_message.Message):
+    __slots__ = ("devices", "initialization", "perception", "alignment", "touch", "retract", "id")
+    DEVICES_FIELD_NUMBER: _ClassVar[int]
+    INITIALIZATION_FIELD_NUMBER: _ClassVar[int]
+    PERCEPTION_FIELD_NUMBER: _ClassVar[int]
+    ALIGNMENT_FIELD_NUMBER: _ClassVar[int]
+    TOUCH_FIELD_NUMBER: _ClassVar[int]
+    RETRACT_FIELD_NUMBER: _ClassVar[int]
+    ID_FIELD_NUMBER: _ClassVar[int]
+    devices: TouchScreenTaskDevicesConfig
+    initialization: TouchScreenTaskInitializationConfig
+    perception: TouchScreenTaskPerceptionConfig
+    alignment: TouchScreenTaskAlignmentConfig
+    touch: TouchScreenTaskTouchConfig
+    retract: TouchScreenTaskRetractConfig
+    id: str
+    def __init__(self, devices: _Optional[_Union[TouchScreenTaskDevicesConfig, _Mapping]] = ..., initialization: _Optional[_Union[TouchScreenTaskInitializationConfig, _Mapping]] = ..., perception: _Optional[_Union[TouchScreenTaskPerceptionConfig, _Mapping]] = ..., alignment: _Optional[_Union[TouchScreenTaskAlignmentConfig, _Mapping]] = ..., touch: _Optional[_Union[TouchScreenTaskTouchConfig, _Mapping]] = ..., retract: _Optional[_Union[TouchScreenTaskRetractConfig, _Mapping]] = ..., id: _Optional[str] = ...) -> None: ...
+
+class TouchScreenTaskRootConfig(_message.Message):
+    __slots__ = ("touch_screen_task",)
+    TOUCH_SCREEN_TASK_FIELD_NUMBER: _ClassVar[int]
+    touch_screen_task: TouchScreenTaskConfig
+    def __init__(self, touch_screen_task: _Optional[_Union[TouchScreenTaskConfig, _Mapping]] = ...) -> None: ...
diff --git a/src/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2_grpc.py b/src/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2_grpc.py
new file mode 100644
index 0000000..d82d483
--- /dev/null
+++ b/src/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
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diff --git a/src/cmvr/msgs/agv_pb2.py b/src/cmvr/msgs/agv_pb2.py
new file mode 100644
index 0000000..1da853e
--- /dev/null
+++ b/src/cmvr/msgs/agv_pb2.py
@@ -0,0 +1,82 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/msgs/agv.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/msgs/agv.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x13\x63mvr/msgs/agv.proto\x12\tcmvr.msgs\"0\n\tAgvPose2d\x12\t\n\x01x\x18\x01 \x01(\x01\x12\t\n\x01y\x18\x02 \x01(\x01\x12\r\n\x05theta\x18\x03 \x01(\x01\"1\n\x0b\x41gvVelocity\x12\n\n\x02vx\x18\x01 \x01(\x01\x12\n\n\x02vy\x18\x02 \x01(\x01\x12\n\n\x02wz\x18\x03 \x01(\x01\"n\n\x0f\x41gvBatteryState\x12\x12\n\npercentage\x18\x01 \x01(\x01\x12\x0f\n\x07voltage\x18\x02 \x01(\x01\x12\x0f\n\x07\x63urrent\x18\x03 \x01(\x01\x12\x13\n\x0btemperature\x18\x04 \x01(\x01\x12\x10\n\x08\x63harging\x18\x05 \x01(\x08\"\xd4\x01\n\x10\x41gvMotionOptions\x12\x11\n\tmax_speed\x18\x01 \x01(\x01\x12\x19\n\x11max_angular_speed\x18\x02 \x01(\x01\x12\x18\n\x10max_acceleration\x18\x03 \x01(\x01\x12 \n\x18max_angular_acceleration\x18\x04 \x01(\x01\x12\x16\n\x0ereach_distance\x18\x05 \x01(\x01\x12\x13\n\x0breach_angle\x18\x06 \x01(\x01\x12\x13\n\x0bspeed_ratio\x18\x07 \x01(\x01\x12\x14\n\x0c\x61synchronous\x18\x08 \x01(\x08\"z\n\x10\x41gvAdapterParams\x12\x37\n\x06values\x18\x01 \x03(\x0b\x32\'.cmvr.msgs.AgvAdapterParams.ValuesEntry\x1a-\n\x0bValuesEntry\x12\x0b\n\x03key\x18\x01 \x01(\t\x12\r\n\x05value\x18\x02 \x01(\t:\x02\x38\x01\"\xcf\x02\n\x0f\x41gvRuntimeState\x12\x11\n\ttimestamp\x18\x01 \x01(\x01\x12\x0c\n\x04mode\x18\x02 \x01(\x05\x12\x11\n\tconnected\x18\x03 \x01(\x08\x12\x11\n\tlocalized\x18\x04 \x01(\x08\x12\x0e\n\x06moving\x18\x05 \x01(\x08\x12\r\n\x05\x66\x61ult\x18\x06 \x01(\x08\x12\x19\n\x11\x65mergency_stopped\x18\x07 \x01(\x08\x12\"\n\x04pose\x18\x08 \x01(\x0b\x32\x14.cmvr.msgs.AgvPose2d\x12(\n\x08velocity\x18\t \x01(\x0b\x32\x16.cmvr.msgs.AgvVelocity\x12+\n\x07\x62\x61ttery\x18\n \x01(\x0b\x32\x1a.cmvr.msgs.AgvBatteryState\x12\x13\n\x0b\x63urrent_map\x18\x0b \x01(\t\x12\x17\n\x0f\x63urrent_station\x18\x0c \x01(\t\x12\x12\n\nlast_error\x18\r \x01(\t\"_\n\nAgvStation\x12\n\n\x02id\x18\x01 \x01(\t\x12\x0c\n\x04type\x18\x02 \x01(\t\x12\"\n\x04pose\x18\x03 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\x03(\x0b\x32\x1e.cmvr.msgs.AgvMapPointSample3D\x12(\n\x06voxels\x18\x05 \x03(\x0b\x32\x18.cmvr.msgs.AgvMapVoxel3D\x12(\n\x06planes\x18\x06 \x03(\x0b\x32\x18.cmvr.msgs.AgvMapPlane3D\x12(\n\x07objects\x18\x07 \x03(\x0b\x32\x17.cmvr.msgs.AgvMapObject\"\xa6\x03\n\x13\x41gvUnifiedMapUpdate\x12\x0e\n\x06map_id\x18\x01 \x01(\t\x12\x12\n\nsession_id\x18\x02 \x01(\t\x12\x10\n\x08sequence\x18\x03 \x01(\x04\x12\x14\n\x0cresume_token\x18\x04 \x01(\t\x12-\n\tdimension\x18\x05 \x01(\x0e\x32\x1a.cmvr.msgs.AgvMapDimension\x12\x30\n\x0bupdate_type\x18\x06 \x01(\x0e\x32\x1b.cmvr.msgs.AgvMapUpdateType\x12\x10\n\x08\x66rame_id\x18\x07 \x01(\t\x12\x11\n\ttimestamp\x18\x08 \x01(\x01\x12\x16\n\x0esnapshot_begin\x18\t \x01(\x08\x12\x14\n\x0csnapshot_end\x18\n \x01(\x08\x12\x13\n\x0b\x63hunk_index\x18\x0b \x01(\r\x12\x13\n\x0b\x63hunk_count\x18\x0c \x01(\r\x12,\n\x06map_2d\x18\x14 \x01(\x0b\x32\x1a.cmvr.msgs.AgvUnifiedMap2DH\x00\x12,\n\x06map_3d\x18\x15 \x01(\x0b\x32\x1a.cmvr.msgs.AgvUnifiedMap3DH\x00\x42\t\n\x07payload\"U\n\x13\x41gvNavigationStatus\x12\r\n\x05state\x18\x01 \x01(\x05\x12\x0c\n\x04type\x18\x02 \x01(\x05\x12\x10\n\x08progress\x18\x03 \x01(\x01\x12\x0f\n\x07message\x18\x04 \x01(\t*k\n\x0f\x41gvMapDimension\x12!\n\x1d\x41GV_MAP_DIMENSION_UNSPECIFIED\x10\x00\x12\x0e\n\nAGV_MAP_2D\x10\x01\x12\x0e\n\nAGV_MAP_3D\x10\x02\x12\x15\n\x11\x41GV_MAP_2D_AND_3D\x10\x03*\x89\x01\n\x10\x41gvMapUpdateType\x12\x1e\n\x1a\x41GV_MAP_UPDATE_UNSPECIFIED\x10\x00\x12\x1b\n\x17\x41GV_MAP_UPDATE_SNAPSHOT\x10\x01\x12\x1e\n\x1a\x41GV_MAP_UPDATE_INCREMENTAL\x10\x02\x12\x18\n\x14\x41GV_MAP_UPDATE_RESET\x10\x03*\xfe\x01\n\x10\x41gvMapObjectType\x12\x1e\n\x1a\x41GV_MAP_OBJECT_UNSPECIFIED\x10\x00\x12\x1a\n\x16\x41GV_MAP_OBJECT_STATION\x10\x01\x12\x17\n\x13\x41GV_MAP_OBJECT_LINE\x10\x02\x12\x17\n\x13\x41GV_MAP_OBJECT_AREA\x10\x03\x12\x19\n\x15\x41GV_MAP_OBJECT_QR_TAG\x10\x04\x12\x1c\n\x18\x41GV_MAP_OBJECT_REFLECTOR\x10\x05\x12\x1f\n\x1b\x41GV_MAP_OBJECT_BIN_LOCATION\x10\x06\x12\"\n\x1e\x41GV_MAP_OBJECT_EXTERNAL_DEVICE\x10\x07\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.agv_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_AGVADAPTERPARAMS_VALUESENTRY']._loaded_options = None
+  _globals['_AGVADAPTERPARAMS_VALUESENTRY']._serialized_options = b'8\001'
+  _globals['_AGVMAPOBJECT_PROPERTIESENTRY']._loaded_options = None
+  _globals['_AGVMAPOBJECT_PROPERTIESENTRY']._serialized_options = b'8\001'
+  _globals['_AGVMAPDIMENSION']._serialized_start=2660
+  _globals['_AGVMAPDIMENSION']._serialized_end=2767
+  _globals['_AGVMAPUPDATETYPE']._serialized_start=2770
+  _globals['_AGVMAPUPDATETYPE']._serialized_end=2907
+  _globals['_AGVMAPOBJECTTYPE']._serialized_start=2910
+  _globals['_AGVMAPOBJECTTYPE']._serialized_end=3164
+  _globals['_AGVPOSE2D']._serialized_start=34
+  _globals['_AGVPOSE2D']._serialized_end=82
+  _globals['_AGVVELOCITY']._serialized_start=84
+  _globals['_AGVVELOCITY']._serialized_end=133
+  _globals['_AGVBATTERYSTATE']._serialized_start=135
+  _globals['_AGVBATTERYSTATE']._serialized_end=245
+  _globals['_AGVMOTIONOPTIONS']._serialized_start=248
+  _globals['_AGVMOTIONOPTIONS']._serialized_end=460
+  _globals['_AGVADAPTERPARAMS']._serialized_start=462
+  _globals['_AGVADAPTERPARAMS']._serialized_end=584
+  _globals['_AGVADAPTERPARAMS_VALUESENTRY']._serialized_start=539
+  _globals['_AGVADAPTERPARAMS_VALUESENTRY']._serialized_end=584
+  _globals['_AGVRUNTIMESTATE']._serialized_start=587
+  _globals['_AGVRUNTIMESTATE']._serialized_end=922
+  _globals['_AGVSTATION']._serialized_start=924
+  _globals['_AGVSTATION']._serialized_end=1019
+  _globals['_AGVPATHSEGMENT']._serialized_start=1021
+  _globals['_AGVPATHSEGMENT']._serialized_end=1085
+  _globals['_AGVMAPPOINT3D']._serialized_start=1087
+  _globals['_AGVMAPPOINT3D']._serialized_end=1135
+  _globals['_AGVUNIFIEDMAP2D']._serialized_start=1138
+  _globals['_AGVUNIFIEDMAP2D']._serialized_end=1337
+  _globals['_AGVMAPPOINTSAMPLE3D']._serialized_start=1339
+  _globals['_AGVMAPPOINTSAMPLE3D']._serialized_end=1447
+  _globals['_AGVMAPVOXEL3D']._serialized_start=1449
+  _globals['_AGVMAPVOXEL3D']._serialized_end=1518
+  _globals['_AGVMAPPLANE3D']._serialized_start=1520
+  _globals['_AGVMAPPLANE3D']._serialized_end=1646
+  _globals['_AGVMAPOBJECT']._serialized_start=1649
+  _globals['_AGVMAPOBJECT']._serialized_end=1889
+  _globals['_AGVMAPOBJECT_PROPERTIESENTRY']._serialized_start=1840
+  _globals['_AGVMAPOBJECT_PROPERTIESENTRY']._serialized_end=1889
+  _globals['_AGVUNIFIEDMAP3D']._serialized_start=1892
+  _globals['_AGVUNIFIEDMAP3D']._serialized_end=2146
+  _globals['_AGVUNIFIEDMAPUPDATE']._serialized_start=2149
+  _globals['_AGVUNIFIEDMAPUPDATE']._serialized_end=2571
+  _globals['_AGVNAVIGATIONSTATUS']._serialized_start=2573
+  _globals['_AGVNAVIGATIONSTATUS']._serialized_end=2658
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/msgs/agv_pb2.pyi b/src/cmvr/msgs/agv_pb2.pyi
new file mode 100644
index 0000000..a69d3c6
--- /dev/null
+++ b/src/cmvr/msgs/agv_pb2.pyi
@@ -0,0 +1,319 @@
+from google.protobuf.internal import containers as _containers
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Iterable as _Iterable, Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class AgvMapDimension(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    AGV_MAP_DIMENSION_UNSPECIFIED: _ClassVar[AgvMapDimension]
+    AGV_MAP_2D: _ClassVar[AgvMapDimension]
+    AGV_MAP_3D: _ClassVar[AgvMapDimension]
+    AGV_MAP_2D_AND_3D: _ClassVar[AgvMapDimension]
+
+class AgvMapUpdateType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    AGV_MAP_UPDATE_UNSPECIFIED: _ClassVar[AgvMapUpdateType]
+    AGV_MAP_UPDATE_SNAPSHOT: _ClassVar[AgvMapUpdateType]
+    AGV_MAP_UPDATE_INCREMENTAL: _ClassVar[AgvMapUpdateType]
+    AGV_MAP_UPDATE_RESET: _ClassVar[AgvMapUpdateType]
+
+class AgvMapObjectType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    AGV_MAP_OBJECT_UNSPECIFIED: _ClassVar[AgvMapObjectType]
+    AGV_MAP_OBJECT_STATION: _ClassVar[AgvMapObjectType]
+    AGV_MAP_OBJECT_LINE: _ClassVar[AgvMapObjectType]
+    AGV_MAP_OBJECT_AREA: _ClassVar[AgvMapObjectType]
+    AGV_MAP_OBJECT_QR_TAG: _ClassVar[AgvMapObjectType]
+    AGV_MAP_OBJECT_REFLECTOR: _ClassVar[AgvMapObjectType]
+    AGV_MAP_OBJECT_BIN_LOCATION: _ClassVar[AgvMapObjectType]
+    AGV_MAP_OBJECT_EXTERNAL_DEVICE: _ClassVar[AgvMapObjectType]
+AGV_MAP_DIMENSION_UNSPECIFIED: AgvMapDimension
+AGV_MAP_2D: AgvMapDimension
+AGV_MAP_3D: AgvMapDimension
+AGV_MAP_2D_AND_3D: AgvMapDimension
+AGV_MAP_UPDATE_UNSPECIFIED: AgvMapUpdateType
+AGV_MAP_UPDATE_SNAPSHOT: AgvMapUpdateType
+AGV_MAP_UPDATE_INCREMENTAL: AgvMapUpdateType
+AGV_MAP_UPDATE_RESET: AgvMapUpdateType
+AGV_MAP_OBJECT_UNSPECIFIED: AgvMapObjectType
+AGV_MAP_OBJECT_STATION: AgvMapObjectType
+AGV_MAP_OBJECT_LINE: AgvMapObjectType
+AGV_MAP_OBJECT_AREA: AgvMapObjectType
+AGV_MAP_OBJECT_QR_TAG: AgvMapObjectType
+AGV_MAP_OBJECT_REFLECTOR: AgvMapObjectType
+AGV_MAP_OBJECT_BIN_LOCATION: AgvMapObjectType
+AGV_MAP_OBJECT_EXTERNAL_DEVICE: AgvMapObjectType
+
+class AgvPose2d(_message.Message):
+    __slots__ = ("x", "y", "theta")
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    THETA_FIELD_NUMBER: _ClassVar[int]
+    x: float
+    y: float
+    theta: float
+    def __init__(self, x: _Optional[float] = ..., y: _Optional[float] = ..., theta: _Optional[float] = ...) -> None: ...
+
+class AgvVelocity(_message.Message):
+    __slots__ = ("vx", "vy", "wz")
+    VX_FIELD_NUMBER: _ClassVar[int]
+    VY_FIELD_NUMBER: _ClassVar[int]
+    WZ_FIELD_NUMBER: _ClassVar[int]
+    vx: float
+    vy: float
+    wz: float
+    def __init__(self, vx: _Optional[float] = ..., vy: _Optional[float] = ..., wz: _Optional[float] = ...) -> None: ...
+
+class AgvBatteryState(_message.Message):
+    __slots__ = ("percentage", "voltage", "current", "temperature", "charging")
+    PERCENTAGE_FIELD_NUMBER: _ClassVar[int]
+    VOLTAGE_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_FIELD_NUMBER: _ClassVar[int]
+    TEMPERATURE_FIELD_NUMBER: _ClassVar[int]
+    CHARGING_FIELD_NUMBER: _ClassVar[int]
+    percentage: float
+    voltage: float
+    current: float
+    temperature: float
+    charging: bool
+    def __init__(self, percentage: _Optional[float] = ..., voltage: _Optional[float] = ..., current: _Optional[float] = ..., temperature: _Optional[float] = ..., charging: _Optional[bool] = ...) -> None: ...
+
+class AgvMotionOptions(_message.Message):
+    __slots__ = ("max_speed", "max_angular_speed", "max_acceleration", "max_angular_acceleration", "reach_distance", "reach_angle", "speed_ratio", "asynchronous")
+    MAX_SPEED_FIELD_NUMBER: _ClassVar[int]
+    MAX_ANGULAR_SPEED_FIELD_NUMBER: _ClassVar[int]
+    MAX_ACCELERATION_FIELD_NUMBER: _ClassVar[int]
+    MAX_ANGULAR_ACCELERATION_FIELD_NUMBER: _ClassVar[int]
+    REACH_DISTANCE_FIELD_NUMBER: _ClassVar[int]
+    REACH_ANGLE_FIELD_NUMBER: _ClassVar[int]
+    SPEED_RATIO_FIELD_NUMBER: _ClassVar[int]
+    ASYNCHRONOUS_FIELD_NUMBER: _ClassVar[int]
+    max_speed: float
+    max_angular_speed: float
+    max_acceleration: float
+    max_angular_acceleration: float
+    reach_distance: float
+    reach_angle: float
+    speed_ratio: float
+    asynchronous: bool
+    def __init__(self, max_speed: _Optional[float] = ..., max_angular_speed: _Optional[float] = ..., max_acceleration: _Optional[float] = ..., max_angular_acceleration: _Optional[float] = ..., reach_distance: _Optional[float] = ..., reach_angle: _Optional[float] = ..., speed_ratio: _Optional[float] = ..., asynchronous: _Optional[bool] = ...) -> None: ...
+
+class AgvAdapterParams(_message.Message):
+    __slots__ = ("values",)
+    class ValuesEntry(_message.Message):
+        __slots__ = ("key", "value")
+        KEY_FIELD_NUMBER: _ClassVar[int]
+        VALUE_FIELD_NUMBER: _ClassVar[int]
+        key: str
+        value: str
+        def __init__(self, key: _Optional[str] = ..., value: _Optional[str] = ...) -> None: ...
+    VALUES_FIELD_NUMBER: _ClassVar[int]
+    values: _containers.ScalarMap[str, str]
+    def __init__(self, values: _Optional[_Mapping[str, str]] = ...) -> None: ...
+
+class AgvRuntimeState(_message.Message):
+    __slots__ = ("timestamp", "mode", "connected", "localized", "moving", "fault", "emergency_stopped", "pose", "velocity", "battery", "current_map", "current_station", "last_error")
+    TIMESTAMP_FIELD_NUMBER: _ClassVar[int]
+    MODE_FIELD_NUMBER: _ClassVar[int]
+    CONNECTED_FIELD_NUMBER: _ClassVar[int]
+    LOCALIZED_FIELD_NUMBER: _ClassVar[int]
+    MOVING_FIELD_NUMBER: _ClassVar[int]
+    FAULT_FIELD_NUMBER: _ClassVar[int]
+    EMERGENCY_STOPPED_FIELD_NUMBER: _ClassVar[int]
+    POSE_FIELD_NUMBER: _ClassVar[int]
+    VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    BATTERY_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_MAP_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_STATION_FIELD_NUMBER: _ClassVar[int]
+    LAST_ERROR_FIELD_NUMBER: _ClassVar[int]
+    timestamp: float
+    mode: int
+    connected: bool
+    localized: bool
+    moving: bool
+    fault: bool
+    emergency_stopped: bool
+    pose: AgvPose2d
+    velocity: AgvVelocity
+    battery: AgvBatteryState
+    current_map: str
+    current_station: str
+    last_error: str
+    def __init__(self, timestamp: _Optional[float] = ..., mode: _Optional[int] = ..., connected: _Optional[bool] = ..., localized: _Optional[bool] = ..., moving: _Optional[bool] = ..., fault: _Optional[bool] = ..., emergency_stopped: _Optional[bool] = ..., pose: _Optional[_Union[AgvPose2d, _Mapping]] = ..., velocity: _Optional[_Union[AgvVelocity, _Mapping]] = ..., battery: _Optional[_Union[AgvBatteryState, _Mapping]] = ..., current_map: _Optional[str] = ..., current_station: _Optional[str] = ..., last_error: _Optional[str] = ...) -> None: ...
+
+class AgvStation(_message.Message):
+    __slots__ = ("id", "type", "pose", "description")
+    ID_FIELD_NUMBER: _ClassVar[int]
+    TYPE_FIELD_NUMBER: _ClassVar[int]
+    POSE_FIELD_NUMBER: _ClassVar[int]
+    DESCRIPTION_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    type: str
+    pose: AgvPose2d
+    description: str
+    def __init__(self, id: _Optional[str] = ..., type: _Optional[str] = ..., pose: _Optional[_Union[AgvPose2d, _Mapping]] = ..., description: _Optional[str] = ...) -> None: ...
+
+class AgvPathSegment(_message.Message):
+    __slots__ = ("source_station", "target_station")
+    SOURCE_STATION_FIELD_NUMBER: _ClassVar[int]
+    TARGET_STATION_FIELD_NUMBER: _ClassVar[int]
+    source_station: str
+    target_station: str
+    def __init__(self, source_station: _Optional[str] = ..., target_station: _Optional[str] = ...) -> None: ...
+
+class AgvMapPoint3D(_message.Message):
+    __slots__ = ("x", "y", "z")
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    Z_FIELD_NUMBER: _ClassVar[int]
+    x: float
+    y: float
+    z: float
+    def __init__(self, x: _Optional[float] = ..., y: _Optional[float] = ..., z: _Optional[float] = ...) -> None: ...
+
+class AgvUnifiedMap2D(_message.Message):
+    __slots__ = ("frame_id", "timestamp", "resolution", "width", "height", "origin", "data", "objects")
+    FRAME_ID_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_FIELD_NUMBER: _ClassVar[int]
+    RESOLUTION_FIELD_NUMBER: _ClassVar[int]
+    WIDTH_FIELD_NUMBER: _ClassVar[int]
+    HEIGHT_FIELD_NUMBER: _ClassVar[int]
+    ORIGIN_FIELD_NUMBER: _ClassVar[int]
+    DATA_FIELD_NUMBER: _ClassVar[int]
+    OBJECTS_FIELD_NUMBER: _ClassVar[int]
+    frame_id: str
+    timestamp: float
+    resolution: float
+    width: int
+    height: int
+    origin: AgvPose2d
+    data: _containers.RepeatedScalarFieldContainer[int]
+    objects: _containers.RepeatedCompositeFieldContainer[AgvMapObject]
+    def __init__(self, frame_id: _Optional[str] = ..., timestamp: _Optional[float] = ..., resolution: _Optional[float] = ..., width: _Optional[int] = ..., height: _Optional[int] = ..., origin: _Optional[_Union[AgvPose2d, _Mapping]] = ..., data: _Optional[_Iterable[int]] = ..., objects: _Optional[_Iterable[_Union[AgvMapObject, _Mapping]]] = ...) -> None: ...
+
+class AgvMapPointSample3D(_message.Message):
+    __slots__ = ("x", "y", "z", "intensity", "ring", "time_offset")
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    Z_FIELD_NUMBER: _ClassVar[int]
+    INTENSITY_FIELD_NUMBER: _ClassVar[int]
+    RING_FIELD_NUMBER: _ClassVar[int]
+    TIME_OFFSET_FIELD_NUMBER: _ClassVar[int]
+    x: float
+    y: float
+    z: float
+    intensity: float
+    ring: int
+    time_offset: float
+    def __init__(self, x: _Optional[float] = ..., y: _Optional[float] = ..., z: _Optional[float] = ..., intensity: _Optional[float] = ..., ring: _Optional[int] = ..., time_offset: _Optional[float] = ...) -> None: ...
+
+class AgvMapVoxel3D(_message.Message):
+    __slots__ = ("x", "y", "z", "probability")
+    X_FIELD_NUMBER: _ClassVar[int]
+    Y_FIELD_NUMBER: _ClassVar[int]
+    Z_FIELD_NUMBER: _ClassVar[int]
+    PROBABILITY_FIELD_NUMBER: _ClassVar[int]
+    x: int
+    y: int
+    z: int
+    probability: float
+    def __init__(self, x: _Optional[int] = ..., y: _Optional[int] = ..., z: _Optional[int] = ..., probability: _Optional[float] = ...) -> None: ...
+
+class AgvMapPlane3D(_message.Message):
+    __slots__ = ("center", "normal", "d", "radius")
+    CENTER_FIELD_NUMBER: _ClassVar[int]
+    NORMAL_FIELD_NUMBER: _ClassVar[int]
+    D_FIELD_NUMBER: _ClassVar[int]
+    RADIUS_FIELD_NUMBER: _ClassVar[int]
+    center: AgvMapPoint3D
+    normal: AgvMapPoint3D
+    d: float
+    radius: float
+    def __init__(self, center: _Optional[_Union[AgvMapPoint3D, _Mapping]] = ..., normal: _Optional[_Union[AgvMapPoint3D, _Mapping]] = ..., d: _Optional[float] = ..., radius: _Optional[float] = ...) -> None: ...
+
+class AgvMapObject(_message.Message):
+    __slots__ = ("id", "type", "points", "heading", "properties")
+    class PropertiesEntry(_message.Message):
+        __slots__ = ("key", "value")
+        KEY_FIELD_NUMBER: _ClassVar[int]
+        VALUE_FIELD_NUMBER: _ClassVar[int]
+        key: str
+        value: str
+        def __init__(self, key: _Optional[str] = ..., value: _Optional[str] = ...) -> None: ...
+    ID_FIELD_NUMBER: _ClassVar[int]
+    TYPE_FIELD_NUMBER: _ClassVar[int]
+    POINTS_FIELD_NUMBER: _ClassVar[int]
+    HEADING_FIELD_NUMBER: _ClassVar[int]
+    PROPERTIES_FIELD_NUMBER: _ClassVar[int]
+    id: str
+    type: AgvMapObjectType
+    points: _containers.RepeatedCompositeFieldContainer[AgvMapPoint3D]
+    heading: float
+    properties: _containers.ScalarMap[str, str]
+    def __init__(self, id: _Optional[str] = ..., type: _Optional[_Union[AgvMapObjectType, str]] = ..., points: _Optional[_Iterable[_Union[AgvMapPoint3D, _Mapping]]] = ..., heading: _Optional[float] = ..., properties: _Optional[_Mapping[str, str]] = ...) -> None: ...
+
+class AgvUnifiedMap3D(_message.Message):
+    __slots__ = ("frame_id", "timestamp", "voxel_resolution", "points", "voxels", "planes", "objects")
+    FRAME_ID_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_FIELD_NUMBER: _ClassVar[int]
+    VOXEL_RESOLUTION_FIELD_NUMBER: _ClassVar[int]
+    POINTS_FIELD_NUMBER: _ClassVar[int]
+    VOXELS_FIELD_NUMBER: _ClassVar[int]
+    PLANES_FIELD_NUMBER: _ClassVar[int]
+    OBJECTS_FIELD_NUMBER: _ClassVar[int]
+    frame_id: str
+    timestamp: float
+    voxel_resolution: float
+    points: _containers.RepeatedCompositeFieldContainer[AgvMapPointSample3D]
+    voxels: _containers.RepeatedCompositeFieldContainer[AgvMapVoxel3D]
+    planes: _containers.RepeatedCompositeFieldContainer[AgvMapPlane3D]
+    objects: _containers.RepeatedCompositeFieldContainer[AgvMapObject]
+    def __init__(self, frame_id: _Optional[str] = ..., timestamp: _Optional[float] = ..., voxel_resolution: _Optional[float] = ..., points: _Optional[_Iterable[_Union[AgvMapPointSample3D, _Mapping]]] = ..., voxels: _Optional[_Iterable[_Union[AgvMapVoxel3D, _Mapping]]] = ..., planes: _Optional[_Iterable[_Union[AgvMapPlane3D, _Mapping]]] = ..., objects: _Optional[_Iterable[_Union[AgvMapObject, _Mapping]]] = ...) -> None: ...
+
+class AgvUnifiedMapUpdate(_message.Message):
+    __slots__ = ("map_id", "session_id", "sequence", "resume_token", "dimension", "update_type", "frame_id", "timestamp", "snapshot_begin", "snapshot_end", "chunk_index", "chunk_count", "map_2d", "map_3d")
+    MAP_ID_FIELD_NUMBER: _ClassVar[int]
+    SESSION_ID_FIELD_NUMBER: _ClassVar[int]
+    SEQUENCE_FIELD_NUMBER: _ClassVar[int]
+    RESUME_TOKEN_FIELD_NUMBER: _ClassVar[int]
+    DIMENSION_FIELD_NUMBER: _ClassVar[int]
+    UPDATE_TYPE_FIELD_NUMBER: _ClassVar[int]
+    FRAME_ID_FIELD_NUMBER: _ClassVar[int]
+    TIMESTAMP_FIELD_NUMBER: _ClassVar[int]
+    SNAPSHOT_BEGIN_FIELD_NUMBER: _ClassVar[int]
+    SNAPSHOT_END_FIELD_NUMBER: _ClassVar[int]
+    CHUNK_INDEX_FIELD_NUMBER: _ClassVar[int]
+    CHUNK_COUNT_FIELD_NUMBER: _ClassVar[int]
+    MAP_2D_FIELD_NUMBER: _ClassVar[int]
+    MAP_3D_FIELD_NUMBER: _ClassVar[int]
+    map_id: str
+    session_id: str
+    sequence: int
+    resume_token: str
+    dimension: AgvMapDimension
+    update_type: AgvMapUpdateType
+    frame_id: str
+    timestamp: float
+    snapshot_begin: bool
+    snapshot_end: bool
+    chunk_index: int
+    chunk_count: int
+    map_2d: AgvUnifiedMap2D
+    map_3d: AgvUnifiedMap3D
+    def __init__(self, map_id: _Optional[str] = ..., session_id: _Optional[str] = ..., sequence: _Optional[int] = ..., resume_token: _Optional[str] = ..., dimension: _Optional[_Union[AgvMapDimension, str]] = ..., update_type: _Optional[_Union[AgvMapUpdateType, str]] = ..., frame_id: _Optional[str] = ..., timestamp: _Optional[float] = ..., snapshot_begin: _Optional[bool] = ..., snapshot_end: _Optional[bool] = ..., chunk_index: _Optional[int] = ..., chunk_count: _Optional[int] = ..., map_2d: _Optional[_Union[AgvUnifiedMap2D, _Mapping]] = ..., map_3d: _Optional[_Union[AgvUnifiedMap3D, _Mapping]] = ...) -> None: ...
+
+class AgvNavigationStatus(_message.Message):
+    __slots__ = ("state", "type", "progress", "message")
+    STATE_FIELD_NUMBER: _ClassVar[int]
+    TYPE_FIELD_NUMBER: _ClassVar[int]
+    PROGRESS_FIELD_NUMBER: _ClassVar[int]
+    MESSAGE_FIELD_NUMBER: _ClassVar[int]
+    state: int
+    type: int
+    progress: float
+    message: str
+    def __init__(self, state: _Optional[int] = ..., type: _Optional[int] = ..., progress: _Optional[float] = ..., message: _Optional[str] = ...) -> None: ...
diff --git a/src/cmvr/msgs/agv_pb2_grpc.py b/src/cmvr/msgs/agv_pb2_grpc.py
new file mode 100644
index 0000000..13ec237
--- /dev/null
+++ b/src/cmvr/msgs/agv_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/msgs/agv_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/msgs/can_card_parameter_pb2.py b/src/cmvr/msgs/can_card_parameter_pb2.py
new file mode 100644
index 0000000..6f1d211
--- /dev/null
+++ b/src/cmvr/msgs/can_card_parameter_pb2.py
@@ -0,0 +1,46 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/msgs/can_card_parameter.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/msgs/can_card_parameter.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\"cmvr/msgs/can_card_parameter.proto\x12\tcmvr.msgs\"\x98\x07\n\x10\x43\x41NCardParameter\x12<\n\x05\x62rand\x18\x01 \x01(\x0e\x32(.cmvr.msgs.CANCardParameter.CANCardBrandH\x00\x88\x01\x01\x12:\n\x04type\x18\x02 \x01(\x0e\x32\'.cmvr.msgs.CANCardParameter.CANCardTypeH\x01\x88\x01\x01\x12\x41\n\nchannel_id\x18\x03 \x01(\x0e\x32(.cmvr.msgs.CANCardParameter.CANChannelIdH\x02\x88\x01\x01\x12@\n\tinterface\x18\x04 \x01(\x0e\x32(.cmvr.msgs.CANCardParameter.CANInterfaceH\x03\x88\x01\x01\x12\x16\n\tnum_ports\x18\x05 \x01(\rH\x04\x88\x01\x01\x12;\n\x08\x62\x61udrate\x18\x06 \x01(\x0e\x32$.cmvr.msgs.CANCardParameter.BAUDRATEH\x05\x88\x01\x01\"M\n\x0c\x43\x41NCardBrand\x12\x0c\n\x08\x46\x41KE_CAN\x10\x00\x12\x0b\n\x07\x45SD_CAN\x10\x01\x12\x12\n\x0eSOCKET_CAN_RAW\x10\x02\x12\x0e\n\nHERMES_CAN\x10\x03\")\n\x0b\x43\x41NCardType\x12\x0c\n\x08PCI_CARD\x10\x00\x12\x0c\n\x08USB_CARD\x10\x01\"\xb5\x01\n\x0c\x43\x41NChannelId\x12\x13\n\x0f\x43HANNEL_ID_ZERO\x10\x00\x12\x12\n\x0e\x43HANNEL_ID_ONE\x10\x01\x12\x12\n\x0e\x43HANNEL_ID_TWO\x10\x02\x12\x14\n\x10\x43HANNEL_ID_THREE\x10\x03\x12\x13\n\x0f\x43HANNEL_ID_FOUR\x10\x04\x12\x13\n\x0f\x43HANNEL_ID_FIVE\x10\x05\x12\x12\n\x0e\x43HANNEL_ID_SIX\x10\x06\x12\x14\n\x10\x43HANNEL_ID_SEVEN\x10\x07\"2\n\x0c\x43\x41NInterface\x12\n\n\x06NATIVE\x10\x00\x12\x0b\n\x07VIRTUAL\x10\x01\x12\t\n\x05SLCAN\x10\x02\"\x7f\n\x08\x42\x41UDRATE\x12\x14\n\x10\x42\x43\x41N_BAUDRATE_1M\x10\x00\x12\x16\n\x12\x42\x43\x41N_BAUDRATE_500K\x10\x01\x12\x16\n\x12\x42\x43\x41N_BAUDRATE_250K\x10\x02\x12\x16\n\x12\x42\x43\x41N_BAUDRATE_150K\x10\x03\x12\x15\n\x11\x42\x43\x41N_BAUDRATE_NUM\x10\x04\x42\x08\n\x06_brandB\x07\n\x05_typeB\r\n\x0b_channel_idB\x0c\n\n_interfaceB\x0c\n\n_num_portsB\x0b\n\t_baudrateb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.can_card_parameter_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_CANCARDPARAMETER']._serialized_start=50
+  _globals['_CANCARDPARAMETER']._serialized_end=970
+  _globals['_CANCARDPARAMETER_CANCARDBRAND']._serialized_start=410
+  _globals['_CANCARDPARAMETER_CANCARDBRAND']._serialized_end=487
+  _globals['_CANCARDPARAMETER_CANCARDTYPE']._serialized_start=489
+  _globals['_CANCARDPARAMETER_CANCARDTYPE']._serialized_end=530
+  _globals['_CANCARDPARAMETER_CANCHANNELID']._serialized_start=533
+  _globals['_CANCARDPARAMETER_CANCHANNELID']._serialized_end=714
+  _globals['_CANCARDPARAMETER_CANINTERFACE']._serialized_start=716
+  _globals['_CANCARDPARAMETER_CANINTERFACE']._serialized_end=766
+  _globals['_CANCARDPARAMETER_BAUDRATE']._serialized_start=768
+  _globals['_CANCARDPARAMETER_BAUDRATE']._serialized_end=895
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/msgs/can_card_parameter_pb2.pyi b/src/cmvr/msgs/can_card_parameter_pb2.pyi
new file mode 100644
index 0000000..97e06f1
--- /dev/null
+++ b/src/cmvr/msgs/can_card_parameter_pb2.pyi
@@ -0,0 +1,76 @@
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class CANCardParameter(_message.Message):
+    __slots__ = ("brand", "type", "channel_id", "interface", "num_ports", "baudrate")
+    class CANCardBrand(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        FAKE_CAN: _ClassVar[CANCardParameter.CANCardBrand]
+        ESD_CAN: _ClassVar[CANCardParameter.CANCardBrand]
+        SOCKET_CAN_RAW: _ClassVar[CANCardParameter.CANCardBrand]
+        HERMES_CAN: _ClassVar[CANCardParameter.CANCardBrand]
+    FAKE_CAN: CANCardParameter.CANCardBrand
+    ESD_CAN: CANCardParameter.CANCardBrand
+    SOCKET_CAN_RAW: CANCardParameter.CANCardBrand
+    HERMES_CAN: CANCardParameter.CANCardBrand
+    class CANCardType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        PCI_CARD: _ClassVar[CANCardParameter.CANCardType]
+        USB_CARD: _ClassVar[CANCardParameter.CANCardType]
+    PCI_CARD: CANCardParameter.CANCardType
+    USB_CARD: CANCardParameter.CANCardType
+    class CANChannelId(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        CHANNEL_ID_ZERO: _ClassVar[CANCardParameter.CANChannelId]
+        CHANNEL_ID_ONE: _ClassVar[CANCardParameter.CANChannelId]
+        CHANNEL_ID_TWO: _ClassVar[CANCardParameter.CANChannelId]
+        CHANNEL_ID_THREE: _ClassVar[CANCardParameter.CANChannelId]
+        CHANNEL_ID_FOUR: _ClassVar[CANCardParameter.CANChannelId]
+        CHANNEL_ID_FIVE: _ClassVar[CANCardParameter.CANChannelId]
+        CHANNEL_ID_SIX: _ClassVar[CANCardParameter.CANChannelId]
+        CHANNEL_ID_SEVEN: _ClassVar[CANCardParameter.CANChannelId]
+    CHANNEL_ID_ZERO: CANCardParameter.CANChannelId
+    CHANNEL_ID_ONE: CANCardParameter.CANChannelId
+    CHANNEL_ID_TWO: CANCardParameter.CANChannelId
+    CHANNEL_ID_THREE: CANCardParameter.CANChannelId
+    CHANNEL_ID_FOUR: CANCardParameter.CANChannelId
+    CHANNEL_ID_FIVE: CANCardParameter.CANChannelId
+    CHANNEL_ID_SIX: CANCardParameter.CANChannelId
+    CHANNEL_ID_SEVEN: CANCardParameter.CANChannelId
+    class CANInterface(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        NATIVE: _ClassVar[CANCardParameter.CANInterface]
+        VIRTUAL: _ClassVar[CANCardParameter.CANInterface]
+        SLCAN: _ClassVar[CANCardParameter.CANInterface]
+    NATIVE: CANCardParameter.CANInterface
+    VIRTUAL: CANCardParameter.CANInterface
+    SLCAN: CANCardParameter.CANInterface
+    class BAUDRATE(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+        __slots__ = ()
+        BCAN_BAUDRATE_1M: _ClassVar[CANCardParameter.BAUDRATE]
+        BCAN_BAUDRATE_500K: _ClassVar[CANCardParameter.BAUDRATE]
+        BCAN_BAUDRATE_250K: _ClassVar[CANCardParameter.BAUDRATE]
+        BCAN_BAUDRATE_150K: _ClassVar[CANCardParameter.BAUDRATE]
+        BCAN_BAUDRATE_NUM: _ClassVar[CANCardParameter.BAUDRATE]
+    BCAN_BAUDRATE_1M: CANCardParameter.BAUDRATE
+    BCAN_BAUDRATE_500K: CANCardParameter.BAUDRATE
+    BCAN_BAUDRATE_250K: CANCardParameter.BAUDRATE
+    BCAN_BAUDRATE_150K: CANCardParameter.BAUDRATE
+    BCAN_BAUDRATE_NUM: CANCardParameter.BAUDRATE
+    BRAND_FIELD_NUMBER: _ClassVar[int]
+    TYPE_FIELD_NUMBER: _ClassVar[int]
+    CHANNEL_ID_FIELD_NUMBER: _ClassVar[int]
+    INTERFACE_FIELD_NUMBER: _ClassVar[int]
+    NUM_PORTS_FIELD_NUMBER: _ClassVar[int]
+    BAUDRATE_FIELD_NUMBER: _ClassVar[int]
+    brand: CANCardParameter.CANCardBrand
+    type: CANCardParameter.CANCardType
+    channel_id: CANCardParameter.CANChannelId
+    interface: CANCardParameter.CANInterface
+    num_ports: int
+    baudrate: CANCardParameter.BAUDRATE
+    def __init__(self, brand: _Optional[_Union[CANCardParameter.CANCardBrand, str]] = ..., type: _Optional[_Union[CANCardParameter.CANCardType, str]] = ..., channel_id: _Optional[_Union[CANCardParameter.CANChannelId, str]] = ..., interface: _Optional[_Union[CANCardParameter.CANInterface, str]] = ..., num_ports: _Optional[int] = ..., baudrate: _Optional[_Union[CANCardParameter.BAUDRATE, str]] = ...) -> None: ...
diff --git a/src/cmvr/msgs/can_card_parameter_pb2_grpc.py b/src/cmvr/msgs/can_card_parameter_pb2_grpc.py
new file mode 100644
index 0000000..dbac691
--- /dev/null
+++ b/src/cmvr/msgs/can_card_parameter_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/msgs/can_card_parameter_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/msgs/canopen_pb2.py b/src/cmvr/msgs/canopen_pb2.py
new file mode 100644
index 0000000..2efb4b8
--- /dev/null
+++ b/src/cmvr/msgs/canopen_pb2.py
@@ -0,0 +1,50 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/msgs/canopen.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/msgs/canopen.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x17\x63mvr/msgs/canopen.proto\x12\tcmvr.msgs\"\x9f\x01\n\x08SdoFrame\x12\x0f\n\x07node_id\x18\x01 \x01(\r\x12\'\n\x02\x63s\x18\x02 \x01(\x0e\x32\x1b.cmvr.msgs.CommandSpecifier\x12!\n\x05index\x18\x03 \x01(\x0e\x32\x12.cmvr.msgs.ObIndex\x12(\n\tsub_index\x18\x04 \x01(\x0e\x32\x15.cmvr.msgs.ObSubIndex\x12\x0c\n\x04\x64\x61ta\x18\x05 \x01(\r*\xe8\x01\n\tPdoBaseId\x12\x1b\n\x17PDO_BASE_ID_UNSPECIFIED\x10\x00\x12\x16\n\x11RPDO1_BASE_ID_200\x10\x80\x04\x12\x16\n\x11RPDO2_BASE_ID_300\x10\x80\x06\x12\x16\n\x11RPDO3_BASE_ID_400\x10\x80\x08\x12\x16\n\x11RPDO4_BASE_ID_500\x10\x80\n\x12\x16\n\x11TPDO1_BASE_ID_180\x10\x80\x03\x12\x16\n\x11TPDO2_BASE_ID_280\x10\x80\x05\x12\x16\n\x11TPDO3_BASE_ID_380\x10\x80\x07\x12\x16\n\x11TPDO4_BASE_ID_480\x10\x80\t*\x9d\x01\n\x10TransmissionType\x12\x15\n\x11SYNC_EVENT_DRIVEN\x10\x00\x12\x0f\n\x0bSYNC_CYCLIC\x10\x01\x12\x10\n\x0bREMOTE_SYNC\x10\xfc\x01\x12\x11\n\x0cREMOTE_ASYNC\x10\xfd\x01\x12 \n\x1b\x41SYNC_MANUFACTURER_SPECIFIC\x10\xfe\x01\x12\x1a\n\x15\x41SYNC_DEVICE_SPECIFIC\x10\xff\x01*\xd1\x02\n\x10\x43ommandSpecifier\x12\t\n\x05\x43S_NO\x10\x00\x12\x15\n\x11\x43S_WRITE_ONE_BYTE\x10/\x12\x16\n\x12\x43S_WRITE_TWO_BYTES\x10+\x12\x18\n\x14\x43S_WRITE_THREE_BYTES\x10\'\x12\x17\n\x13\x43S_WRITE_FOUR_BYTES\x10#\x12\x1d\n\x19\x43S_WRITE_SUCCESS_RESPONSE\x10`\x12\x13\n\x0f\x43S_READ_REQUEST\x10@\x12\x1d\n\x19\x43S_READ_RESPONSE_ONE_BYTE\x10O\x12\x1e\n\x1a\x43S_READ_RESPONSE_TWO_BYTES\x10K\x12 \n\x1c\x43S_READ_RESPONSE_THREE_BYTES\x10G\x12\x1f\n\x1b\x43S_READ_RESPONSE_FOUR_BYTES\x10\x43\x12\x1a\n\x15\x43S_EXCEPTION_RESPONSE\x10\x80\x01*\xa1\x01\n\x08NmtState\x12\x14\n\x10NMT_INITIALIZING\x10\x00\x12\x19\n\x15NMT_RESET_APPLICATION\x10\x01\x12\x12\n\x0eNMT_CONNECTING\x10\x02\x12\x11\n\rNMT_PREPARING\x10\x03\x12\x0f\n\x0bNMT_STOPPED\x10\x04\x12\x13\n\x0fNMT_OPERATIONAL\x10\x05\x12\x17\n\x13NMT_PRE_OPERATIONAL\x10\x7f*\xb1\x01\n\nNmtCommand\x12\x1b\n\x17NMT_COMMAND_UNSPECIFIED\x10\x00\x12\x19\n\x15NMT_START_REMOTE_NODE\x10\x01\x12\x18\n\x14NMT_STOP_REMOTE_NODE\x10\x02\x12\x1e\n\x19NMT_ENTER_PRE_OPERATIONAL\x10\x80\x01\x12\x13\n\x0eNMT_RESET_NODE\x10\x81\x01\x12\x1c\n\x17NMT_RESET_COMMUNICATION\x10\x82\x01*\xce\x08\n\x07ObIndex\x12\x0e\n\nINDEX_ZERO\x10\x00\x12\x18\n\x13USER_SAVE_PARA_2000\x10\x80@\x12\x19\n\x14POSITION_OFFSET_2008\x10\x88@\x12\x15\n\x0f\x45RROR_CODE_6007\x10\x87\xc0\x01\x12\x15\n\x0f\x45RROR_CODE_603F\x10\xbf\xc0\x01\x12\x17\n\x11\x43ONTROL_WORD_6040\x10\xc0\xc0\x01\x12\x16\n\x10STATUS_WORD_6041\x10\xc1\xc0\x01\x12\x19\n\x13OPERATION_MODE_6060\x10\xe0\xc0\x01\x12\x17\n\x11MODE_DISPLAY_6061\x10\xe1\xc0\x01\x12\x1a\n\x14\x41\x43TUAL_POSITION_6064\x10\xe4\xc0\x01\x12\x17\n\x11\x41\x43TUAL_SPEED_606C\x10\xec\xc0\x01\x12\x19\n\x13\x41\x43TUAL_CURRENT_6078\x10\xf8\xc0\x01\x12\x18\n\x12TARGET_TORQUE_6071\x10\xf1\xc0\x01\x12\x15\n\x0fMAX_TORQUE_6072\x10\xf2\xc0\x01\x12\x18\n\x12\x44\x45MAND_TORQUE_6074\x10\xf4\xc0\x01\x12\x1a\n\x14TARGET_POSITION_607A\x10\xfa\xc0\x01\x12\"\n\x1cSOFTWARE_POSITION_LIMIT_607D\x10\xfd\xc0\x01\x12\x14\n\x0eMAX_SPEED_607F\x10\xff\xc0\x01\x12\x18\n\x12PROFILE_SPEED_6081\x10\x81\xc1\x01\x12\x1f\n\x19PROFILE_ACCELERATION_6083\x10\x83\xc1\x01\x12\x1f\n\x19PROFILE_DECELERATION_6084\x10\x84\xc1\x01\x12\x1b\n\x15\x43URRENT_LOOP_PID_60F6\x10\xf6\xc1\x01\x12\x19\n\x13SPEED_LOOP_PID_60F9\x10\xf9\xc1\x01\x12\x1c\n\x16POSITION_LOOP_PID_60FB\x10\xfb\xc1\x01\x12\x17\n\x11TARGET_SPEED_60FF\x10\xff\xc1\x01\x12\x1c\n\x16QUICK_STOP_OPTION_605A\x10\xda\xc0\x01\x12\x1b\n\x15QUICK_STOP_DECEL_6085\x10\x85\xc1\x01\x12\x14\n\x0fRPDO1_COMM_1400\x10\x80(\x12\x14\n\x0fRPDO2_COMM_1401\x10\x81(\x12\x14\n\x0fRPDO3_COMM_1402\x10\x82(\x12\x14\n\x0fRPDO4_COMM_1403\x10\x83(\x12\x14\n\x0fTPDO1_COMM_1800\x10\x80\x30\x12\x14\n\x0fTPDO2_COMM_1801\x10\x81\x30\x12\x14\n\x0fTPDO3_COMM_1802\x10\x82\x30\x12\x14\n\x0fTPDO4_COMM_1803\x10\x83\x30\x12\x13\n\x0eRPDO1_MAP_1600\x10\x80,\x12\x13\n\x0eRPDO2_MAP_1601\x10\x81,\x12\x13\n\x0eRPDO3_MAP_1602\x10\x82,\x12\x13\n\x0eRPDO4_MAP_1603\x10\x83,\x12\x13\n\x0eTPDO1_MAP_1A00\x10\x80\x34\x12\x13\n\x0eTPDO2_MAP_1A01\x10\x81\x34\x12\x13\n\x0eTPDO3_MAP_1A02\x10\x82\x34\x12\x13\n\x0eTPDO4_MAP_1A03\x10\x83\x34\x12\x1c\n\x17PRODUCER_HEARTBEAT_TIME\x10\x97 *\x94\x01\n\nObSubIndex\x12\x0f\n\x0bSUB_INDEX_0\x10\x00\x12\x0f\n\x0bSUB_INDEX_1\x10\x01\x12\x0f\n\x0bSUB_INDEX_2\x10\x02\x12\x0f\n\x0bSUB_INDEX_3\x10\x03\x12\x0f\n\x0bSUB_INDEX_4\x10\x04\x12\x0f\n\x0bSUB_INDEX_5\x10\x05\x12\x0f\n\x0bSUB_INDEX_6\x10\x06\x12\x0f\n\x0bSUB_INDEX_7\x10\x07\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.canopen_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_PDOBASEID']._serialized_start=201
+  _globals['_PDOBASEID']._serialized_end=433
+  _globals['_TRANSMISSIONTYPE']._serialized_start=436
+  _globals['_TRANSMISSIONTYPE']._serialized_end=593
+  _globals['_COMMANDSPECIFIER']._serialized_start=596
+  _globals['_COMMANDSPECIFIER']._serialized_end=933
+  _globals['_NMTSTATE']._serialized_start=936
+  _globals['_NMTSTATE']._serialized_end=1097
+  _globals['_NMTCOMMAND']._serialized_start=1100
+  _globals['_NMTCOMMAND']._serialized_end=1277
+  _globals['_OBINDEX']._serialized_start=1280
+  _globals['_OBINDEX']._serialized_end=2382
+  _globals['_OBSUBINDEX']._serialized_start=2385
+  _globals['_OBSUBINDEX']._serialized_end=2533
+  _globals['_SDOFRAME']._serialized_start=39
+  _globals['_SDOFRAME']._serialized_end=198
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/msgs/canopen_pb2.pyi b/src/cmvr/msgs/canopen_pb2.pyi
new file mode 100644
index 0000000..6e64f17
--- /dev/null
+++ b/src/cmvr/msgs/canopen_pb2.pyi
@@ -0,0 +1,225 @@
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class PdoBaseId(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    PDO_BASE_ID_UNSPECIFIED: _ClassVar[PdoBaseId]
+    RPDO1_BASE_ID_200: _ClassVar[PdoBaseId]
+    RPDO2_BASE_ID_300: _ClassVar[PdoBaseId]
+    RPDO3_BASE_ID_400: _ClassVar[PdoBaseId]
+    RPDO4_BASE_ID_500: _ClassVar[PdoBaseId]
+    TPDO1_BASE_ID_180: _ClassVar[PdoBaseId]
+    TPDO2_BASE_ID_280: _ClassVar[PdoBaseId]
+    TPDO3_BASE_ID_380: _ClassVar[PdoBaseId]
+    TPDO4_BASE_ID_480: _ClassVar[PdoBaseId]
+
+class TransmissionType(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    SYNC_EVENT_DRIVEN: _ClassVar[TransmissionType]
+    SYNC_CYCLIC: _ClassVar[TransmissionType]
+    REMOTE_SYNC: _ClassVar[TransmissionType]
+    REMOTE_ASYNC: _ClassVar[TransmissionType]
+    ASYNC_MANUFACTURER_SPECIFIC: _ClassVar[TransmissionType]
+    ASYNC_DEVICE_SPECIFIC: _ClassVar[TransmissionType]
+
+class CommandSpecifier(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    CS_NO: _ClassVar[CommandSpecifier]
+    CS_WRITE_ONE_BYTE: _ClassVar[CommandSpecifier]
+    CS_WRITE_TWO_BYTES: _ClassVar[CommandSpecifier]
+    CS_WRITE_THREE_BYTES: _ClassVar[CommandSpecifier]
+    CS_WRITE_FOUR_BYTES: _ClassVar[CommandSpecifier]
+    CS_WRITE_SUCCESS_RESPONSE: _ClassVar[CommandSpecifier]
+    CS_READ_REQUEST: _ClassVar[CommandSpecifier]
+    CS_READ_RESPONSE_ONE_BYTE: _ClassVar[CommandSpecifier]
+    CS_READ_RESPONSE_TWO_BYTES: _ClassVar[CommandSpecifier]
+    CS_READ_RESPONSE_THREE_BYTES: _ClassVar[CommandSpecifier]
+    CS_READ_RESPONSE_FOUR_BYTES: _ClassVar[CommandSpecifier]
+    CS_EXCEPTION_RESPONSE: _ClassVar[CommandSpecifier]
+
+class NmtState(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    NMT_INITIALIZING: _ClassVar[NmtState]
+    NMT_RESET_APPLICATION: _ClassVar[NmtState]
+    NMT_CONNECTING: _ClassVar[NmtState]
+    NMT_PREPARING: _ClassVar[NmtState]
+    NMT_STOPPED: _ClassVar[NmtState]
+    NMT_OPERATIONAL: _ClassVar[NmtState]
+    NMT_PRE_OPERATIONAL: _ClassVar[NmtState]
+
+class NmtCommand(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    NMT_COMMAND_UNSPECIFIED: _ClassVar[NmtCommand]
+    NMT_START_REMOTE_NODE: _ClassVar[NmtCommand]
+    NMT_STOP_REMOTE_NODE: _ClassVar[NmtCommand]
+    NMT_ENTER_PRE_OPERATIONAL: _ClassVar[NmtCommand]
+    NMT_RESET_NODE: _ClassVar[NmtCommand]
+    NMT_RESET_COMMUNICATION: _ClassVar[NmtCommand]
+
+class ObIndex(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    INDEX_ZERO: _ClassVar[ObIndex]
+    USER_SAVE_PARA_2000: _ClassVar[ObIndex]
+    POSITION_OFFSET_2008: _ClassVar[ObIndex]
+    ERROR_CODE_6007: _ClassVar[ObIndex]
+    ERROR_CODE_603F: _ClassVar[ObIndex]
+    CONTROL_WORD_6040: _ClassVar[ObIndex]
+    STATUS_WORD_6041: _ClassVar[ObIndex]
+    OPERATION_MODE_6060: _ClassVar[ObIndex]
+    MODE_DISPLAY_6061: _ClassVar[ObIndex]
+    ACTUAL_POSITION_6064: _ClassVar[ObIndex]
+    ACTUAL_SPEED_606C: _ClassVar[ObIndex]
+    ACTUAL_CURRENT_6078: _ClassVar[ObIndex]
+    TARGET_TORQUE_6071: _ClassVar[ObIndex]
+    MAX_TORQUE_6072: _ClassVar[ObIndex]
+    DEMAND_TORQUE_6074: _ClassVar[ObIndex]
+    TARGET_POSITION_607A: _ClassVar[ObIndex]
+    SOFTWARE_POSITION_LIMIT_607D: _ClassVar[ObIndex]
+    MAX_SPEED_607F: _ClassVar[ObIndex]
+    PROFILE_SPEED_6081: _ClassVar[ObIndex]
+    PROFILE_ACCELERATION_6083: _ClassVar[ObIndex]
+    PROFILE_DECELERATION_6084: _ClassVar[ObIndex]
+    CURRENT_LOOP_PID_60F6: _ClassVar[ObIndex]
+    SPEED_LOOP_PID_60F9: _ClassVar[ObIndex]
+    POSITION_LOOP_PID_60FB: _ClassVar[ObIndex]
+    TARGET_SPEED_60FF: _ClassVar[ObIndex]
+    QUICK_STOP_OPTION_605A: _ClassVar[ObIndex]
+    QUICK_STOP_DECEL_6085: _ClassVar[ObIndex]
+    RPDO1_COMM_1400: _ClassVar[ObIndex]
+    RPDO2_COMM_1401: _ClassVar[ObIndex]
+    RPDO3_COMM_1402: _ClassVar[ObIndex]
+    RPDO4_COMM_1403: _ClassVar[ObIndex]
+    TPDO1_COMM_1800: _ClassVar[ObIndex]
+    TPDO2_COMM_1801: _ClassVar[ObIndex]
+    TPDO3_COMM_1802: _ClassVar[ObIndex]
+    TPDO4_COMM_1803: _ClassVar[ObIndex]
+    RPDO1_MAP_1600: _ClassVar[ObIndex]
+    RPDO2_MAP_1601: _ClassVar[ObIndex]
+    RPDO3_MAP_1602: _ClassVar[ObIndex]
+    RPDO4_MAP_1603: _ClassVar[ObIndex]
+    TPDO1_MAP_1A00: _ClassVar[ObIndex]
+    TPDO2_MAP_1A01: _ClassVar[ObIndex]
+    TPDO3_MAP_1A02: _ClassVar[ObIndex]
+    TPDO4_MAP_1A03: _ClassVar[ObIndex]
+    PRODUCER_HEARTBEAT_TIME: _ClassVar[ObIndex]
+
+class ObSubIndex(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    SUB_INDEX_0: _ClassVar[ObSubIndex]
+    SUB_INDEX_1: _ClassVar[ObSubIndex]
+    SUB_INDEX_2: _ClassVar[ObSubIndex]
+    SUB_INDEX_3: _ClassVar[ObSubIndex]
+    SUB_INDEX_4: _ClassVar[ObSubIndex]
+    SUB_INDEX_5: _ClassVar[ObSubIndex]
+    SUB_INDEX_6: _ClassVar[ObSubIndex]
+    SUB_INDEX_7: _ClassVar[ObSubIndex]
+PDO_BASE_ID_UNSPECIFIED: PdoBaseId
+RPDO1_BASE_ID_200: PdoBaseId
+RPDO2_BASE_ID_300: PdoBaseId
+RPDO3_BASE_ID_400: PdoBaseId
+RPDO4_BASE_ID_500: PdoBaseId
+TPDO1_BASE_ID_180: PdoBaseId
+TPDO2_BASE_ID_280: PdoBaseId
+TPDO3_BASE_ID_380: PdoBaseId
+TPDO4_BASE_ID_480: PdoBaseId
+SYNC_EVENT_DRIVEN: TransmissionType
+SYNC_CYCLIC: TransmissionType
+REMOTE_SYNC: TransmissionType
+REMOTE_ASYNC: TransmissionType
+ASYNC_MANUFACTURER_SPECIFIC: TransmissionType
+ASYNC_DEVICE_SPECIFIC: TransmissionType
+CS_NO: CommandSpecifier
+CS_WRITE_ONE_BYTE: CommandSpecifier
+CS_WRITE_TWO_BYTES: CommandSpecifier
+CS_WRITE_THREE_BYTES: CommandSpecifier
+CS_WRITE_FOUR_BYTES: CommandSpecifier
+CS_WRITE_SUCCESS_RESPONSE: CommandSpecifier
+CS_READ_REQUEST: CommandSpecifier
+CS_READ_RESPONSE_ONE_BYTE: CommandSpecifier
+CS_READ_RESPONSE_TWO_BYTES: CommandSpecifier
+CS_READ_RESPONSE_THREE_BYTES: CommandSpecifier
+CS_READ_RESPONSE_FOUR_BYTES: CommandSpecifier
+CS_EXCEPTION_RESPONSE: CommandSpecifier
+NMT_INITIALIZING: NmtState
+NMT_RESET_APPLICATION: NmtState
+NMT_CONNECTING: NmtState
+NMT_PREPARING: NmtState
+NMT_STOPPED: NmtState
+NMT_OPERATIONAL: NmtState
+NMT_PRE_OPERATIONAL: NmtState
+NMT_COMMAND_UNSPECIFIED: NmtCommand
+NMT_START_REMOTE_NODE: NmtCommand
+NMT_STOP_REMOTE_NODE: NmtCommand
+NMT_ENTER_PRE_OPERATIONAL: NmtCommand
+NMT_RESET_NODE: NmtCommand
+NMT_RESET_COMMUNICATION: NmtCommand
+INDEX_ZERO: ObIndex
+USER_SAVE_PARA_2000: ObIndex
+POSITION_OFFSET_2008: ObIndex
+ERROR_CODE_6007: ObIndex
+ERROR_CODE_603F: ObIndex
+CONTROL_WORD_6040: ObIndex
+STATUS_WORD_6041: ObIndex
+OPERATION_MODE_6060: ObIndex
+MODE_DISPLAY_6061: ObIndex
+ACTUAL_POSITION_6064: ObIndex
+ACTUAL_SPEED_606C: ObIndex
+ACTUAL_CURRENT_6078: ObIndex
+TARGET_TORQUE_6071: ObIndex
+MAX_TORQUE_6072: ObIndex
+DEMAND_TORQUE_6074: ObIndex
+TARGET_POSITION_607A: ObIndex
+SOFTWARE_POSITION_LIMIT_607D: ObIndex
+MAX_SPEED_607F: ObIndex
+PROFILE_SPEED_6081: ObIndex
+PROFILE_ACCELERATION_6083: ObIndex
+PROFILE_DECELERATION_6084: ObIndex
+CURRENT_LOOP_PID_60F6: ObIndex
+SPEED_LOOP_PID_60F9: ObIndex
+POSITION_LOOP_PID_60FB: ObIndex
+TARGET_SPEED_60FF: ObIndex
+QUICK_STOP_OPTION_605A: ObIndex
+QUICK_STOP_DECEL_6085: ObIndex
+RPDO1_COMM_1400: ObIndex
+RPDO2_COMM_1401: ObIndex
+RPDO3_COMM_1402: ObIndex
+RPDO4_COMM_1403: ObIndex
+TPDO1_COMM_1800: ObIndex
+TPDO2_COMM_1801: ObIndex
+TPDO3_COMM_1802: ObIndex
+TPDO4_COMM_1803: ObIndex
+RPDO1_MAP_1600: ObIndex
+RPDO2_MAP_1601: ObIndex
+RPDO3_MAP_1602: ObIndex
+RPDO4_MAP_1603: ObIndex
+TPDO1_MAP_1A00: ObIndex
+TPDO2_MAP_1A01: ObIndex
+TPDO3_MAP_1A02: ObIndex
+TPDO4_MAP_1A03: ObIndex
+PRODUCER_HEARTBEAT_TIME: ObIndex
+SUB_INDEX_0: ObSubIndex
+SUB_INDEX_1: ObSubIndex
+SUB_INDEX_2: ObSubIndex
+SUB_INDEX_3: ObSubIndex
+SUB_INDEX_4: ObSubIndex
+SUB_INDEX_5: ObSubIndex
+SUB_INDEX_6: ObSubIndex
+SUB_INDEX_7: ObSubIndex
+
+class SdoFrame(_message.Message):
+    __slots__ = ("node_id", "cs", "index", "sub_index", "data")
+    NODE_ID_FIELD_NUMBER: _ClassVar[int]
+    CS_FIELD_NUMBER: _ClassVar[int]
+    INDEX_FIELD_NUMBER: _ClassVar[int]
+    SUB_INDEX_FIELD_NUMBER: _ClassVar[int]
+    DATA_FIELD_NUMBER: _ClassVar[int]
+    node_id: int
+    cs: CommandSpecifier
+    index: ObIndex
+    sub_index: ObSubIndex
+    data: int
+    def __init__(self, node_id: _Optional[int] = ..., cs: _Optional[_Union[CommandSpecifier, str]] = ..., index: _Optional[_Union[ObIndex, str]] = ..., sub_index: _Optional[_Union[ObSubIndex, str]] = ..., data: _Optional[int] = ...) -> None: ...
diff --git a/src/cmvr/msgs/canopen_pb2_grpc.py b/src/cmvr/msgs/canopen_pb2_grpc.py
new file mode 100644
index 0000000..08208c9
--- /dev/null
+++ b/src/cmvr/msgs/canopen_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/msgs/canopen_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/msgs/error_code_pb2.py b/src/cmvr/msgs/error_code_pb2.py
new file mode 100644
index 0000000..5ca814d
--- /dev/null
+++ b/src/cmvr/msgs/error_code_pb2.py
@@ -0,0 +1,38 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/msgs/error_code.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/msgs/error_code.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1a\x63mvr/msgs/error_code.proto\x12\tcmvr.msgs\"A\n\x08StatusPb\x12(\n\nerror_code\x18\x01 \x01(\x0e\x32\x14.cmvr.msgs.ErrorCode\x12\x0b\n\x03msg\x18\x02 \x01(\t*\x80\x02\n\tErrorCode\x12\x06\n\x02OK\x10\x00\x12\x11\n\x0c\x43\x41NBUS_ERROR\x10\xd0\x0f\x12\x1a\n\x15\x43\x41N_CLIENT_ERROR_BASE\x10\xb4\x10\x12(\n#CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED\x10\xb5\x10\x12\x1f\n\x1a\x43\x41N_CLIENT_ERROR_FRAME_NUM\x10\xb6\x10\x12!\n\x1c\x43\x41N_CLIENT_ERROR_SEND_FAILED\x10\xb7\x10\x12!\n\x1c\x43\x41N_CLIENT_ERROR_RECV_FAILED\x10\xb8\x10\x12\x10\n\x0bMOTOR_ERROR\x10\xb8\x17\x12\x19\n\x14MOTOR_ERROR_SET_ZERO\x10\xb9\x17\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.error_code_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_ERRORCODE']._serialized_start=109
+  _globals['_ERRORCODE']._serialized_end=365
+  _globals['_STATUSPB']._serialized_start=41
+  _globals['_STATUSPB']._serialized_end=106
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/msgs/error_code_pb2.pyi b/src/cmvr/msgs/error_code_pb2.pyi
new file mode 100644
index 0000000..54166c3
--- /dev/null
+++ b/src/cmvr/msgs/error_code_pb2.pyi
@@ -0,0 +1,35 @@
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class ErrorCode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    OK: _ClassVar[ErrorCode]
+    CANBUS_ERROR: _ClassVar[ErrorCode]
+    CAN_CLIENT_ERROR_BASE: _ClassVar[ErrorCode]
+    CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED: _ClassVar[ErrorCode]
+    CAN_CLIENT_ERROR_FRAME_NUM: _ClassVar[ErrorCode]
+    CAN_CLIENT_ERROR_SEND_FAILED: _ClassVar[ErrorCode]
+    CAN_CLIENT_ERROR_RECV_FAILED: _ClassVar[ErrorCode]
+    MOTOR_ERROR: _ClassVar[ErrorCode]
+    MOTOR_ERROR_SET_ZERO: _ClassVar[ErrorCode]
+OK: ErrorCode
+CANBUS_ERROR: ErrorCode
+CAN_CLIENT_ERROR_BASE: ErrorCode
+CAN_CLIENT_ERROR_OPEN_DEVICE_FAILED: ErrorCode
+CAN_CLIENT_ERROR_FRAME_NUM: ErrorCode
+CAN_CLIENT_ERROR_SEND_FAILED: ErrorCode
+CAN_CLIENT_ERROR_RECV_FAILED: ErrorCode
+MOTOR_ERROR: ErrorCode
+MOTOR_ERROR_SET_ZERO: ErrorCode
+
+class StatusPb(_message.Message):
+    __slots__ = ("error_code", "msg")
+    ERROR_CODE_FIELD_NUMBER: _ClassVar[int]
+    MSG_FIELD_NUMBER: _ClassVar[int]
+    error_code: ErrorCode
+    msg: str
+    def __init__(self, error_code: _Optional[_Union[ErrorCode, str]] = ..., msg: _Optional[str] = ...) -> None: ...
diff --git a/src/cmvr/msgs/error_code_pb2_grpc.py b/src/cmvr/msgs/error_code_pb2_grpc.py
new file mode 100644
index 0000000..36bd44d
--- /dev/null
+++ b/src/cmvr/msgs/error_code_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/msgs/error_code_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/msgs/motor_pb2.py b/src/cmvr/msgs/motor_pb2.py
new file mode 100644
index 0000000..fc7fc95
--- /dev/null
+++ b/src/cmvr/msgs/motor_pb2.py
@@ -0,0 +1,39 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/msgs/motor.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/msgs/motor.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.msgs import canopen_pb2 as cmvr_dot_msgs_dot_canopen__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x15\x63mvr/msgs/motor.proto\x12\tcmvr.msgs\x1a\x17\x63mvr/msgs/canopen.proto\"\x94\x08\n\x0bMotorStatus\x12$\n\x08run_mode\x18\x01 \x01(\x0e\x32\x12.cmvr.msgs.RunMode\x12\x0f\n\x07\x63urrent\x18\x02 \x01(\x05\x12\x16\n\x0etarget_current\x18\x03 \x01(\x05\x12\r\n\x05speed\x18\x04 \x01(\x05\x12\x14\n\x0ctarget_speed\x18\x05 \x01(\x05\x12\x10\n\x08position\x18\x06 \x01(\x05\x12\x17\n\x0ftarget_position\x18\x07 \x01(\x05\x12\x13\n\x0b\x65rror_state\x18\x08 \x01(\r\x12\x10\n\x08speed_kp\x18\t \x01(\x05\x12\x10\n\x08speed_ki\x18\n \x01(\x05\x12\x10\n\x08speed_kd\x18\x0b \x01(\x05\x12\x13\n\x0bposition_kp\x18\x0c \x01(\x05\x12\x13\n\x0bposition_ki\x18\r \x01(\x05\x12\x13\n\x0bposition_kd\x18\x0e \x01(\x05\x12\x13\n\x0b\x62us_voltage\x18\x0f \x01(\x05\x12\x17\n\x0fmax_abs_current\x18\x10 \x01(\x05\x12\x17\n\x0fmax_pos_current\x18\x11 \x01(\x05\x12\x17\n\x0fmin_neg_current\x18\x12 \x01(\x05\x12\x15\n\rmax_pos_accel\x18\x13 \x01(\x05\x12\x15\n\rmin_neg_accel\x18\x14 \x01(\x05\x12\x18\n\x10max_pos_velocity\x18\x15 \x01(\x05\x12\x18\n\x10min_neg_velocity\x18\x16 \x01(\x05\x12\x18\n\x10max_pos_position\x18\x17 \x01(\x05\x12\x18\n\x10min_neg_position\x18\x18 \x01(\x05\x12\x12\n\nmotor_temp\x18\x19 \x01(\x05\x12\x12\n\nboard_temp\x18\x1a \x01(\x05\x12\x12\n\ncurrent_kp\x18\x1b \x01(\x05\x12\x12\n\ncurrent_ki\x18\x1c \x01(\x05\x12\x12\n\ncurrent_kd\x18\x1d \x01(\x05\x12\x12\n\nmotor_type\x18\x1e \x01(\x05\x12\x15\n\rmotor_version\x18\x1f \x01(\x05\x12\x18\n\x10software_version\x18  \x01(\x05\x12\x17\n\x0fposition_offset\x18! \x01(\x05\x12\x10\n\x08\x63sp_data\x18\" \x01(\x0c\x12\x17\n\x0f\x65ncoder_voltage\x18# \x01(\x05\x12\x15\n\rencoder_state\x18$ \x01(\x05\x12\x19\n\x11overvoltage_limit\x18% \x01(\x05\x12\x1a\n\x12undervoltage_limit\x18& \x01(\x05\x12\x16\n\x0e\x63oil_over_temp\x18\' \x01(\x05\x12\x18\n\x10\x64river_over_temp\x18( \x01(\x05\x12)\n\x0csdo_response\x18) \x01(\x0b\x32\x13.cmvr.msgs.SdoFrame\x12&\n\tnmt_state\x18* \x01(\x0e\x32\x13.cmvr.msgs.NmtState\x12\x11\n\tctrl_word\x18+ \x01(\r\x12\x13\n\x0bstatus_word\x18, \x01(\r*\xae\x02\n\x07RunMode\x12\x18\n\x14RUN_MODE_UNSPECIFIED\x10\x00\x12\x1d\n\x19RUN_MODE_PROFILE_POSITION\x10\x01\x12\x15\n\x11RUN_MODE_VELOCITY\x10\x02\x12\x1d\n\x19RUN_MODE_PROFILE_VELOCITY\x10\x03\x12\x13\n\x0fRUN_MODE_TORQUE\x10\x04\x12\x13\n\x0fRUN_MODE_HOMING\x10\x05\x12\"\n\x1eRUN_MODE_INTERPOLATED_POSITION\x10\x07\x12!\n\x1dRUN_MODE_CYCLIC_SYNC_POSITION\x10\x08\x12!\n\x1dRUN_MODE_CYCLIC_SYNC_VELOCITY\x10\t\x12 \n\x1cRUN_MODE_CYCLIC_SYNC_CURRENT\x10\nb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.motor_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_RUNMODE']._serialized_start=1109
+  _globals['_RUNMODE']._serialized_end=1411
+  _globals['_MOTORSTATUS']._serialized_start=62
+  _globals['_MOTORSTATUS']._serialized_end=1106
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/msgs/motor_pb2.pyi b/src/cmvr/msgs/motor_pb2.pyi
new file mode 100644
index 0000000..23cae5a
--- /dev/null
+++ b/src/cmvr/msgs/motor_pb2.pyi
@@ -0,0 +1,123 @@
+from cmvr.msgs import canopen_pb2 as _canopen_pb2
+from google.protobuf.internal import enum_type_wrapper as _enum_type_wrapper
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class RunMode(int, metaclass=_enum_type_wrapper.EnumTypeWrapper):
+    __slots__ = ()
+    RUN_MODE_UNSPECIFIED: _ClassVar[RunMode]
+    RUN_MODE_PROFILE_POSITION: _ClassVar[RunMode]
+    RUN_MODE_VELOCITY: _ClassVar[RunMode]
+    RUN_MODE_PROFILE_VELOCITY: _ClassVar[RunMode]
+    RUN_MODE_TORQUE: _ClassVar[RunMode]
+    RUN_MODE_HOMING: _ClassVar[RunMode]
+    RUN_MODE_INTERPOLATED_POSITION: _ClassVar[RunMode]
+    RUN_MODE_CYCLIC_SYNC_POSITION: _ClassVar[RunMode]
+    RUN_MODE_CYCLIC_SYNC_VELOCITY: _ClassVar[RunMode]
+    RUN_MODE_CYCLIC_SYNC_CURRENT: _ClassVar[RunMode]
+RUN_MODE_UNSPECIFIED: RunMode
+RUN_MODE_PROFILE_POSITION: RunMode
+RUN_MODE_VELOCITY: RunMode
+RUN_MODE_PROFILE_VELOCITY: RunMode
+RUN_MODE_TORQUE: RunMode
+RUN_MODE_HOMING: RunMode
+RUN_MODE_INTERPOLATED_POSITION: RunMode
+RUN_MODE_CYCLIC_SYNC_POSITION: RunMode
+RUN_MODE_CYCLIC_SYNC_VELOCITY: RunMode
+RUN_MODE_CYCLIC_SYNC_CURRENT: RunMode
+
+class MotorStatus(_message.Message):
+    __slots__ = ("run_mode", "current", "target_current", "speed", "target_speed", "position", "target_position", "error_state", "speed_kp", "speed_ki", "speed_kd", "position_kp", "position_ki", "position_kd", "bus_voltage", "max_abs_current", "max_pos_current", "min_neg_current", "max_pos_accel", "min_neg_accel", "max_pos_velocity", "min_neg_velocity", "max_pos_position", "min_neg_position", "motor_temp", "board_temp", "current_kp", "current_ki", "current_kd", "motor_type", "motor_version", "software_version", "position_offset", "csp_data", "encoder_voltage", "encoder_state", "overvoltage_limit", "undervoltage_limit", "coil_over_temp", "driver_over_temp", "sdo_response", "nmt_state", "ctrl_word", "status_word")
+    RUN_MODE_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_FIELD_NUMBER: _ClassVar[int]
+    TARGET_CURRENT_FIELD_NUMBER: _ClassVar[int]
+    SPEED_FIELD_NUMBER: _ClassVar[int]
+    TARGET_SPEED_FIELD_NUMBER: _ClassVar[int]
+    POSITION_FIELD_NUMBER: _ClassVar[int]
+    TARGET_POSITION_FIELD_NUMBER: _ClassVar[int]
+    ERROR_STATE_FIELD_NUMBER: _ClassVar[int]
+    SPEED_KP_FIELD_NUMBER: _ClassVar[int]
+    SPEED_KI_FIELD_NUMBER: _ClassVar[int]
+    SPEED_KD_FIELD_NUMBER: _ClassVar[int]
+    POSITION_KP_FIELD_NUMBER: _ClassVar[int]
+    POSITION_KI_FIELD_NUMBER: _ClassVar[int]
+    POSITION_KD_FIELD_NUMBER: _ClassVar[int]
+    BUS_VOLTAGE_FIELD_NUMBER: _ClassVar[int]
+    MAX_ABS_CURRENT_FIELD_NUMBER: _ClassVar[int]
+    MAX_POS_CURRENT_FIELD_NUMBER: _ClassVar[int]
+    MIN_NEG_CURRENT_FIELD_NUMBER: _ClassVar[int]
+    MAX_POS_ACCEL_FIELD_NUMBER: _ClassVar[int]
+    MIN_NEG_ACCEL_FIELD_NUMBER: _ClassVar[int]
+    MAX_POS_VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    MIN_NEG_VELOCITY_FIELD_NUMBER: _ClassVar[int]
+    MAX_POS_POSITION_FIELD_NUMBER: _ClassVar[int]
+    MIN_NEG_POSITION_FIELD_NUMBER: _ClassVar[int]
+    MOTOR_TEMP_FIELD_NUMBER: _ClassVar[int]
+    BOARD_TEMP_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_KP_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_KI_FIELD_NUMBER: _ClassVar[int]
+    CURRENT_KD_FIELD_NUMBER: _ClassVar[int]
+    MOTOR_TYPE_FIELD_NUMBER: _ClassVar[int]
+    MOTOR_VERSION_FIELD_NUMBER: _ClassVar[int]
+    SOFTWARE_VERSION_FIELD_NUMBER: _ClassVar[int]
+    POSITION_OFFSET_FIELD_NUMBER: _ClassVar[int]
+    CSP_DATA_FIELD_NUMBER: _ClassVar[int]
+    ENCODER_VOLTAGE_FIELD_NUMBER: _ClassVar[int]
+    ENCODER_STATE_FIELD_NUMBER: _ClassVar[int]
+    OVERVOLTAGE_LIMIT_FIELD_NUMBER: _ClassVar[int]
+    UNDERVOLTAGE_LIMIT_FIELD_NUMBER: _ClassVar[int]
+    COIL_OVER_TEMP_FIELD_NUMBER: _ClassVar[int]
+    DRIVER_OVER_TEMP_FIELD_NUMBER: _ClassVar[int]
+    SDO_RESPONSE_FIELD_NUMBER: _ClassVar[int]
+    NMT_STATE_FIELD_NUMBER: _ClassVar[int]
+    CTRL_WORD_FIELD_NUMBER: _ClassVar[int]
+    STATUS_WORD_FIELD_NUMBER: _ClassVar[int]
+    run_mode: RunMode
+    current: int
+    target_current: int
+    speed: int
+    target_speed: int
+    position: int
+    target_position: int
+    error_state: int
+    speed_kp: int
+    speed_ki: int
+    speed_kd: int
+    position_kp: int
+    position_ki: int
+    position_kd: int
+    bus_voltage: int
+    max_abs_current: int
+    max_pos_current: int
+    min_neg_current: int
+    max_pos_accel: int
+    min_neg_accel: int
+    max_pos_velocity: int
+    min_neg_velocity: int
+    max_pos_position: int
+    min_neg_position: int
+    motor_temp: int
+    board_temp: int
+    current_kp: int
+    current_ki: int
+    current_kd: int
+    motor_type: int
+    motor_version: int
+    software_version: int
+    position_offset: int
+    csp_data: bytes
+    encoder_voltage: int
+    encoder_state: int
+    overvoltage_limit: int
+    undervoltage_limit: int
+    coil_over_temp: int
+    driver_over_temp: int
+    sdo_response: _canopen_pb2.SdoFrame
+    nmt_state: _canopen_pb2.NmtState
+    ctrl_word: int
+    status_word: int
+    def __init__(self, run_mode: _Optional[_Union[RunMode, str]] = ..., current: _Optional[int] = ..., target_current: _Optional[int] = ..., speed: _Optional[int] = ..., target_speed: _Optional[int] = ..., position: _Optional[int] = ..., target_position: _Optional[int] = ..., error_state: _Optional[int] = ..., speed_kp: _Optional[int] = ..., speed_ki: _Optional[int] = ..., speed_kd: _Optional[int] = ..., position_kp: _Optional[int] = ..., position_ki: _Optional[int] = ..., position_kd: _Optional[int] = ..., bus_voltage: _Optional[int] = ..., max_abs_current: _Optional[int] = ..., max_pos_current: _Optional[int] = ..., min_neg_current: _Optional[int] = ..., max_pos_accel: _Optional[int] = ..., min_neg_accel: _Optional[int] = ..., max_pos_velocity: _Optional[int] = ..., min_neg_velocity: _Optional[int] = ..., max_pos_position: _Optional[int] = ..., min_neg_position: _Optional[int] = ..., motor_temp: _Optional[int] = ..., board_temp: _Optional[int] = ..., current_kp: _Optional[int] = ..., current_ki: _Optional[int] = ..., current_kd: _Optional[int] = ..., motor_type: _Optional[int] = ..., motor_version: _Optional[int] = ..., software_version: _Optional[int] = ..., position_offset: _Optional[int] = ..., csp_data: _Optional[bytes] = ..., encoder_voltage: _Optional[int] = ..., encoder_state: _Optional[int] = ..., overvoltage_limit: _Optional[int] = ..., undervoltage_limit: _Optional[int] = ..., coil_over_temp: _Optional[int] = ..., driver_over_temp: _Optional[int] = ..., sdo_response: _Optional[_Union[_canopen_pb2.SdoFrame, _Mapping]] = ..., nmt_state: _Optional[_Union[_canopen_pb2.NmtState, str]] = ..., ctrl_word: _Optional[int] = ..., status_word: _Optional[int] = ...) -> None: ...
diff --git a/src/cmvr/msgs/motor_pb2_grpc.py b/src/cmvr/msgs/motor_pb2_grpc.py
new file mode 100644
index 0000000..e54659b
--- /dev/null
+++ b/src/cmvr/msgs/motor_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/msgs/motor_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr/msgs/robot_detail_pb2.py b/src/cmvr/msgs/robot_detail_pb2.py
new file mode 100644
index 0000000..071df18
--- /dev/null
+++ b/src/cmvr/msgs/robot_detail_pb2.py
@@ -0,0 +1,42 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# NO CHECKED-IN PROTOBUF GENCODE
+# source: cmvr/msgs/robot_detail.proto
+# Protobuf Python Version: 6.33.5
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import runtime_version as _runtime_version
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+_runtime_version.ValidateProtobufRuntimeVersion(
+    _runtime_version.Domain.PUBLIC,
+    6,
+    33,
+    5,
+    '',
+    'cmvr/msgs/robot_detail.proto'
+)
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from cmvr.msgs import canopen_pb2 as cmvr_dot_msgs_dot_canopen__pb2
+from cmvr.msgs import motor_pb2 as cmvr_dot_msgs_dot_motor__pb2
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n\x1c\x63mvr/msgs/robot_detail.proto\x12\tcmvr.msgs\x1a\x17\x63mvr/msgs/canopen.proto\x1a\x15\x63mvr/msgs/motor.proto\"\x88\x01\n\x0bRobotDetail\x12\x32\n\x06motors\x18\x01 \x03(\x0b\x32\".cmvr.msgs.RobotDetail.MotorsEntry\x1a\x45\n\x0bMotorsEntry\x12\x0b\n\x03key\x18\x01 \x01(\r\x12%\n\x05value\x18\x02 \x01(\x0b\x32\x16.cmvr.msgs.MotorStatus:\x02\x38\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'cmvr.msgs.robot_detail_pb2', _globals)
+if not _descriptor._USE_C_DESCRIPTORS:
+  DESCRIPTOR._loaded_options = None
+  _globals['_ROBOTDETAIL_MOTORSENTRY']._loaded_options = None
+  _globals['_ROBOTDETAIL_MOTORSENTRY']._serialized_options = b'8\001'
+  _globals['_ROBOTDETAIL']._serialized_start=92
+  _globals['_ROBOTDETAIL']._serialized_end=228
+  _globals['_ROBOTDETAIL_MOTORSENTRY']._serialized_start=159
+  _globals['_ROBOTDETAIL_MOTORSENTRY']._serialized_end=228
+# @@protoc_insertion_point(module_scope)
diff --git a/src/cmvr/msgs/robot_detail_pb2.pyi b/src/cmvr/msgs/robot_detail_pb2.pyi
new file mode 100644
index 0000000..d662e6e
--- /dev/null
+++ b/src/cmvr/msgs/robot_detail_pb2.pyi
@@ -0,0 +1,22 @@
+from cmvr.msgs import canopen_pb2 as _canopen_pb2
+from cmvr.msgs import motor_pb2 as _motor_pb2
+from google.protobuf.internal import containers as _containers
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import message as _message
+from collections.abc import Mapping as _Mapping
+from typing import ClassVar as _ClassVar, Optional as _Optional, Union as _Union
+
+DESCRIPTOR: _descriptor.FileDescriptor
+
+class RobotDetail(_message.Message):
+    __slots__ = ("motors",)
+    class MotorsEntry(_message.Message):
+        __slots__ = ("key", "value")
+        KEY_FIELD_NUMBER: _ClassVar[int]
+        VALUE_FIELD_NUMBER: _ClassVar[int]
+        key: int
+        value: _motor_pb2.MotorStatus
+        def __init__(self, key: _Optional[int] = ..., value: _Optional[_Union[_motor_pb2.MotorStatus, _Mapping]] = ...) -> None: ...
+    MOTORS_FIELD_NUMBER: _ClassVar[int]
+    motors: _containers.MessageMap[int, _motor_pb2.MotorStatus]
+    def __init__(self, motors: _Optional[_Mapping[int, _motor_pb2.MotorStatus]] = ...) -> None: ...
diff --git a/src/cmvr/msgs/robot_detail_pb2_grpc.py b/src/cmvr/msgs/robot_detail_pb2_grpc.py
new file mode 100644
index 0000000..feff5ce
--- /dev/null
+++ b/src/cmvr/msgs/robot_detail_pb2_grpc.py
@@ -0,0 +1,24 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+import warnings
+
+
+GRPC_GENERATED_VERSION = '1.81.1'
+GRPC_VERSION = grpc.__version__
+_version_not_supported = False
+
+try:
+    from grpc._utilities import first_version_is_lower
+    _version_not_supported = first_version_is_lower(GRPC_VERSION, GRPC_GENERATED_VERSION)
+except ImportError:
+    _version_not_supported = True
+
+if _version_not_supported:
+    raise RuntimeError(
+        f'The grpc package installed is at version {GRPC_VERSION},'
+        + ' but the generated code in cmvr/msgs/robot_detail_pb2_grpc.py depends on'
+        + f' grpcio>={GRPC_GENERATED_VERSION}.'
+        + f' Please upgrade your grpc module to grpcio>={GRPC_GENERATED_VERSION}'
+        + f' or downgrade your generated code using grpcio-tools<={GRPC_VERSION}.'
+    )
diff --git a/src/cmvr_edge_ai.egg-info/PKG-INFO b/src/cmvr_edge_ai.egg-info/PKG-INFO
new file mode 100644
index 0000000..2bd0ddf
--- /dev/null
+++ b/src/cmvr_edge_ai.egg-info/PKG-INFO
@@ -0,0 +1,405 @@
+Metadata-Version: 2.4
+Name: cmvr-edge-ai
+Version: 0.1.0
+Summary: Configuration-driven AI pipeline runtime for CMVR robot edge devices
+Requires-Python: <3.13,>=3.10
+Description-Content-Type: text/markdown
+Requires-Dist: pydantic<3,>=2.8
+Requires-Dist: PyYAML<7,>=6
+Provides-Extra: grpc
+Requires-Dist: grpcio<2,>=1.76; extra == "grpc"
+Requires-Dist: protobuf<7,>=6.31.1; extra == "grpc"
+Provides-Extra: http
+Requires-Dist: httpx<1,>=0.27; extra == "http"
+Provides-Extra: video
+Requires-Dist: av<17,>=12; extra == "video"
+Provides-Extra: image
+Requires-Dist: Pillow<13,>=10; extra == "image"
+Provides-Extra: yolo
+Requires-Dist: numpy<3,>=1.24; extra == "yolo"
+Requires-Dist: ultralytics==8.4.31; extra == "yolo"
+Provides-Extra: yolo-cpu
+Requires-Dist: numpy<3,>=1.24; extra == "yolo-cpu"
+Requires-Dist: torch==2.7.0; extra == "yolo-cpu"
+Requires-Dist: torchvision==0.22.0; extra == "yolo-cpu"
+Requires-Dist: ultralytics==8.4.31; extra == "yolo-cpu"
+
+# cmvr-edge-ai
+
+`cmvr-edge-ai` 是部署在机器人边缘端的、配置驱动的 AI 流水线运行时。它把上游传感器、AI 算法和下游机器人/平台接口拆成可组合节点，通过 YAML 把节点连接成有向无环图（DAG）。协议只出现在边界连接器中，算法节点使用统一的内部消息，因此以后增加 HTTP、gRPC、UDP 或 QUIC 时不需要改动算法本身。
+
+当前版本已经包含可运行的检测链路和框架基础设施：
+
+- 严格 YAML 配置校验、环境变量展开和 DAG 编译检查；
+- `Source -> Operator -> Sink` 异步运行时；
+- 每条边独立的有界队列和明确的溢出策略；
+- 版本化插件注册表、检测模型注册表和 Python entry point 扩展机制；
+- cmvr-es RGB 相机 gRPC Source（带退避上限的指数重连）、AGV gRPC Sink；
+- PyAV H264/H265 有状态解码、通用检测模型节点和重复命中规则节点；
+- Construction PPE YOLOv8 模型注册，以及按标签、置信度和最大 FPS 的部署配置；
+- 平台 HTTP JSON Sink，支持有限重试并使用告警 `event_id` 作为幂等键；
+- `RobotCommand -> ApprovedRobotCommand` 安全门和无重试的类型化 AGV 命令映射；
+- 文本/JSON 日志、共享 gRPC Channel 与 HTTP Client；
+- 可直接执行的 smoke、PPE 检测和对话占位配置。
+
+`detect_server/pipeline.yaml` 已实现“相机编码流 -> PyAV 解码 -> 注册模型推理 -> 时间窗口规则 -> HTTP 告警”。VAD/ASR/LLM/TTS 尚未内置；`talk_server/pipeline.yaml` 仍使用模拟音频数据，等待 cmvr-es 音频双向流 proto 落地。
+
+## 架构概览
+
+```mermaid
+flowchart LR
+    A["cmvr-es / 平台<br/>gRPC、HTTP、未来 UDP/QUIC"] --> B["Source 连接器"]
+    B --> C["每条边独立的有界队列"]
+    C --> D["Operator DAG<br/>解码、检测、VAD、ASR、LLM、TTS、策略"]
+    D --> E["Safety Gate"]
+    D --> F["平台 Sink"]
+    E --> G["机器人执行器 Sink"]
+```
+
+内部节点传递 `Envelope[T]`，其中包含载荷、`schema/version`、采集时间、序号、截止时间、`trace_id` 和 `session_id`。连接器负责 protobuf/HTTP JSON 与内部契约之间的转换，AI 插件不应直接依赖 cmvr-es protobuf。
+
+完整设计和配置字段见 [docs/architecture.md](docs/architecture.md)。
+
+## 目录
+
+```text
+cmvr_edge_ai/
+├── .python-version                # uv 默认 Python 3.10
+├── uv.lock                        # 所有 profile 的可复现依赖锁
+├── configs/
+│   └── smoke.yaml                 # 不依赖外部服务的最小运行验证
+├── detect_server/
+│   └── pipeline.yaml              # 相机 -> 解码 -> PPE 检测 -> 重复规则 -> HTTP
+├── talk_server/
+│   ├── nodes/                     # 对话插件预留目录
+│   └── pipeline.yaml              # 模拟音频 -> 对话占位 -> 日志
+├── scripts/
+│   ├── bootstrap.sh               # 一键创建 uv 环境、生成 bindings 并自检
+│   └── generate_cmvr_stubs.py     # 从 cmvr-es proto 生成 Python bindings
+├── src/cmvr_edge_ai/
+│   ├── config/                    # 配置模型、加载与环境变量展开
+│   ├── core/                      # Envelope、组件接口、队列和 DAG 运行时
+│   ├── contracts/                 # 协议无关的图像、音频、AI 和控制契约
+│   ├── detection/                 # 模型注册、视频解码、推理与时间窗口规则
+│   ├── plugins/                   # 插件注册、发现和内置基础插件
+│   ├── connectors/                # cmvr-es 与平台边界连接器
+│   ├── transports/                # gRPC/HTTP 连接池；UDP/QUIC 扩展位置
+│   ├── workers/                   # 显式线程 offload 与常驻进程 Worker 工具
+│   ├── observability/             # 低开销文本/JSON 日志
+│   ├── application.py             # 多 Pipeline 与共享网络客户端的所有者
+│   ├── compiler.py                # 配置到可执行 DAG 的编译器
+│   └── cli.py                     # validate/run/plugins/models
+└── tests/
+```
+
+## 快速开始
+
+项目使用 `uv` 管理 Python、`.venv` 和锁定依赖。`.python-version` 默认选择
+Python 3.10，支持范围是 3.10～3.12；首次执行时，uv 会在本机没有合适解释器时
+自动安装。先确认已经安装 uv：
+
+```bash
+uv --version
+```
+
+未安装时可使用 uv 官方安装器：
+
+```bash
+curl -LsSf https://astral.sh/uv/install.sh | sh
+```
+
+只验证框架和模拟对话链路时，一条命令创建最小环境并自检：
+
+```bash
+cd /home/xtkuang/Projects/cmvr/cmvr_edge_ai
+bash scripts/bootstrap.sh --profile core
+```
+
+`uv.lock` 是安装的唯一版本来源；bootstrap 使用 `uv sync --locked`，不会在用户
+机器上重新选择依赖版本。无需 `source .venv/bin/activate`，统一通过
+`uv run --no-sync` 使用已经安装好的环境：
+
+```bash
+uv run --no-sync cmvr-edge-ai validate --config configs/smoke.yaml
+uv run --no-sync cmvr-edge-ai plugins
+uv run --no-sync cmvr-edge-ai run \
+  --config configs/smoke.yaml \
+  --log-level INFO \
+  --log-format text
+```
+
+预期会看到两条日志，内容分别包含 `framework-ready` 和 `bounded-dag-running`。该 Source 是有限数据源，数据处理完后进程会自然退出。
+
+bootstrap 支持以下环境：
+
+| Profile | 安装内容 | 命令 |
+|---|---|---|
+| `core` | 框架核心和模拟 smoke/talk 链路 | `bash scripts/bootstrap.sh --profile core` |
+| `detection-cpu` | gRPC、HTTP、PyAV、Pillow 告警图片和固定版本 CPU YOLO；默认值 | `bash scripts/bootstrap.sh` |
+| `dev` | `detection-cpu` 加测试和 protobuf codegen 工具，并运行完整测试 | `bash scripts/bootstrap.sh --profile dev` |
+
+如果只希望安装、不执行自检，可加 `--skip-check`。完整参数通过以下命令查看：
+
+```bash
+bash scripts/bootstrap.sh --help
+```
+
+不要使用 `uv sync --all-extras`：`yolo` 与 `yolo-cpu` 是为不同 PyTorch 来源准备的
+互斥环境。请使用 bootstrap profile，或显式只选择其中一个 extra。
+告警图片的画框和 JPEG 编码由独立的 `image` extra 提供；默认的
+`detection-cpu`/`dev` profile 已安装它，手动组合检测环境时也必须选择
+`--extra image`。
+
+CLI 的四个子命令如下：
+
+| 命令 | 用途 |
+|---|---|
+| `validate -c FILE [--pipeline ID]` | 加载配置、展开环境变量、构造插件并校验 DAG；不启动 Pipeline |
+| `run -c FILE [--pipeline ID]` | 启动选中的 Pipeline；未指定时启动所有 `enabled: true` 的 Pipeline |
+| `plugins` | 列出内置插件和已安装 entry point 插件 |
+| `models` | 列出检测模型 ID、名称、backend 和注册的全部标签 |
+
+`--pipeline` 可以重复传入。`run` 还支持 `--log-level` 和 `--log-format text|json`。配置错误退出码为 `2`，运行错误为 `1`，键盘中断为 `130`。
+
+## 运行 PPE 检测链路
+
+默认 bootstrap 就是当前 YAML 使用的 CPU 检测环境。它会从相邻的
+`../cmvr-es` 读取 proto、用锁定的 `grpcio-tools` 生成 bindings，然后安装完整
+检测依赖并校验 smoke 和 PPE 配置：
+
+```bash
+cd /home/xtkuang/Projects/cmvr/cmvr_edge_ai
+bash scripts/bootstrap.sh
+```
+
+如果 cmvr-es 不在相邻目录，显式指定路径：
+
+```bash
+bash scripts/bootstrap.sh \
+  --cmvr-es-root /home/xtkuang/Projects/cmvr/cmvr-es
+```
+
+bootstrap 默认使用 portable codegen，所以不要求 cmvr-es 已经编译出 `protoc`。
+要跳过生成（例如部署包已经包含匹配版本的 bindings），使用
+`--skip-codegen`。手动生成时可以执行：
+
+```bash
+uv sync --locked --only-group codegen
+.venv/bin/python scripts/generate_cmvr_stubs.py \
+  --cmvr-es-root /home/xtkuang/Projects/cmvr/cmvr-es \
+  --portable
+```
+
+生成文件默认写入 `src/cmvr/...`，使 `cmvr.api.*_pb2` 可以被连接器导入。
+生成后应再次执行目标 profile 的 `uv sync --locked`，让可编辑安装识别新包；bootstrap
+已经按这个顺序处理。
+
+在 `detect_server/pipeline.yaml` 中配置部署参数：
+
+```yaml
+endpoints:
+  cmvr_es:
+    target: 127.0.0.1:50052
+  platform:
+    base_url: http://127.0.0.1:8081
+
+pipelines:
+  detection:
+    nodes:
+      detector:
+        with:
+          attach_frame: true
+          model_options:
+            weights: /home/xtkuang/Projects/cmvr/changan_robot/construction-ppe-yolov8/best.pt
+            device: cpu
+      repeat_gate:
+        with:
+          alert_image:
+            enabled: true
+            jpeg_quality: 85
+```
+
+然后验证并运行检测链路，不再要求预先导出环境变量：
+
+```bash
+uv run --no-sync cmvr-edge-ai models
+uv run --no-sync cmvr-edge-ai validate \
+  --config detect_server/pipeline.yaml \
+  --pipeline detection
+uv run --no-sync cmvr-edge-ai run --config detect_server/pipeline.yaml \
+  --pipeline detection \
+  --log-level INFO \
+  --log-format json
+```
+
+运行前需要确认权重文件存在、cmvr-es 已启用 `right_hand_cam`，并且平台的 `/v1/detection-alerts` 可访问。默认 `yolo-cpu` profile 将 PyTorch 2.7.0 和 torchvision 0.22.0 绑定到官方 CPU wheel，并固定 checkpoint 记录的 Ultralytics 8.4.31。`model_options.device` 在该环境中应保持 `cpu`，`half` 应保持 `false`。
+
+x86 CUDA 和 Jetson/JetPack 的 PyTorch wheel 与驱动强绑定，不能复用这个 CPU
+profile。项目保留了不绑定 CPU index 的 `yolo` extra 作为设备专用环境的基础，但
+GPU 部署前应为目标设备建立单独的 uv source/lock（或使用 NVIDIA 容器），再把 YAML
+中的 `device` 改为 `cuda:0`；不要只改 YAML 就认为 CUDA 环境已经就绪。
+
+`detection.model@1` 根据 `model` 从 `DetectionModelRegistry` 解析模型。`detect_labels` 只选择需要检测的标签，省略时检测注册模型的全部标签；`confidence` 是全局阈值，也可以用 `label_confidence` 为个别标签覆盖。内置模型 `construction-ppe-yolov8@1` 的名称和 19 个标签可以通过 `cmvr-edge-ai models` 查看。`attach_frame: true` 让检测结果临时携带对应的解码帧，供后续告警节点使用；因此 detector 到 repeat gate 的队列应保持较小，避免堆积未压缩图像。
+
+`detection.repeat_gate@1` 只在一个规则的 `window_ms` 内看到至少 `min_hits` 个不同帧后生成 `DetectionAlert/v1`。同一帧有多个同类框仍只算一次；触发后进入 `cooldown_ms`，冷却期间不累计，结束后必须重新满足次数。`scope: source` 按相机统计；`scope: track` 按 `track_id` 统计，但当前 YOLO adapter 只做逐帧检测，不产生 `track_id`，因此使用 track 规则前必须增加跟踪/关联节点。
+
+启用 `alert_image` 后，repeat gate 只在规则真正触发时使用 Pillow 对阈值帧画框并编码 JPEG，不会给每一帧都生成图片。告警的 `detections` 和图片中的 bounding boxes 都来自达到 `min_hits` 的阈值帧；窗口内更早帧只参与 `hit_count`、时间范围和最大置信度统计。HTTP JSON 中图片位于 `payload.image`：
+
+```json
+{
+  "image": {
+    "media_type": "image/jpeg",
+    "width": 1280,
+    "height": 720,
+    "encoding": "base64",
+    "data": "..."
+  }
+}
+```
+
+这里的外层对象是 `DetectionAlert` payload 的片段；HTTP JSON Sink 会把内部 JPEG
+`bytes` 转成上述扁平 Base64 图片对象。未启用图片，或运行时因第三方结果未附带
+帧、坏帧等原因渲染失败时，告警仍会发送且 `payload.image` 为 `null`。
+同一阈值帧若同时触发多条规则或多个 track，只编码一次相关框的并集，并让这些
+告警共享同一个不可变 JPEG 对象，以限制边缘端瞬时 CPU 和内存开销。
+
+对话占位链路不依赖音频 proto：
+
+```bash
+uv run --no-sync cmvr-edge-ai validate --config talk_server/pipeline.yaml
+uv run --no-sync cmvr-edge-ai run --config talk_server/pipeline.yaml
+```
+
+## 配置最小示例
+
+```yaml
+api_version: cmvr.edge.ai/v1
+
+runtime:
+  thread_workers: 2
+  shutdown_timeout_s: 5
+
+pipelines:
+  example:
+    enabled: true
+    nodes:
+      source:
+        uses: core.sequence_source@1
+        with:
+          items: [hello]
+          schema_name: TextEvent
+          schema_version: 1
+      sink:
+        uses: core.log_sink@1
+    edges:
+      - from: source.output
+        to: sink.input
+        qos:
+          profile: request
+          capacity: 4
+          overflow: block
+```
+
+配置模型是严格的，多余字段会报错。字符串支持以下环境变量形式：
+
+- `${NAME}`：变量必须存在；
+- `${NAME:-default}`：未设置或为空时使用默认值；
+- `env://NAME`：整个字符串取自必填环境变量。
+
+v1 支持五个 `qos.profile`，并在编译期约束其溢出策略：编码 H264/H265 在解码前必须使用 `video_contiguous`，只能阻塞或拒绝；解码后的完整图像可使用 `realtime_latest` 丢旧帧控制延迟；`audio_contiguous` 和 `request` 只能阻塞或拒绝；`telemetry` 支持全部策略。未填写 QoS 时使用无损的 `request + block + capacity=1`。`reject` 会抛异常，`error` 是它的兼容别名。`max_age_ms`、`put_timeout_ms` 已预留，设置后 `validate` 会拒绝配置。完整矩阵见架构文档。
+
+## 注册新的检测模型
+
+检测模型和 DAG 插件是两层注册：流水线固定使用通用的 `detection.model@1`，具体模型通过 `DetectionModelRegistry` 注册 `DetectionModelSpec`。每个 spec 必须给出版本化 `model_id`、面向运维的 `name`、有序且唯一的 `supported_labels`、`backend` 和 factory。factory 返回实现 `load/predict/close` 的 `DetectionModel`；部署 YAML 中的 `model_options` 原样交给它。第三方模型包可以使用 `cmvr_edge_ai.detection_models` entry point 发布 spec 或注册回调。安装后先执行 `cmvr-edge-ai models`，再让配置引用其中的精确模型 ID。
+
+模型实际输出的标签仍会在通用 Operator 边界二次校验和过滤；模型返回未注册标签会让节点失败。直接相连的重复规则若引用了 detector 没有选择的标签，也会在 `validate` 阶段被编译器拒绝。
+
+## 开发插件
+
+插件必须使用带版本的稳定 ID，例如 `example.text_upper@1`，并声明节点种类、输入/输出端口及 schema。工厂签名固定为 `(node_id, params)`；组件分别继承 `Source`、`Operator` 或 `Sink`。
+
+```python
+from collections.abc import Mapping
+from typing import Any
+
+from cmvr_edge_ai.contracts import TextEvent
+from cmvr_edge_ai.core import Emission, Envelope, Operator
+from cmvr_edge_ai.plugins import PluginKind, PluginRegistry, PluginSpec
+
+
+class UppercaseOperator(Operator):
+    def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
+        self.node_id = node_id
+
+    async def process(
+        self, envelope: Envelope[Any], input_port: str = "input"
+    ) -> Emission:
+        event = envelope.payload
+        if not isinstance(event, TextEvent):
+            raise TypeError("expected TextEvent")
+        result = TextEvent(text=event.text.upper(), role=event.role, final=event.final)
+        return Emission(
+            "output",
+            envelope.with_payload(result, schema_name="TextEvent", schema_version=1),
+        )
+
+
+def register_plugins(registry: PluginRegistry) -> None:
+    registry.register(
+        PluginSpec(
+            plugin_id="example.text_upper@1",
+            kind=PluginKind.OPERATOR,
+            factory=UppercaseOperator,
+            inputs={"input": "TextEvent/v1"},
+            outputs={"output": "TextEvent/v1"},
+            description="Uppercase text events",
+        )
+    )
+```
+
+在插件包的 `pyproject.toml` 中注册：
+
+```toml
+[project.entry-points."cmvr_edge_ai.plugins"]
+example = "my_cmvr_plugin.plugins:register_plugins"
+```
+
+安装插件包后，用下面的命令确认发现成功：
+
+```bash
+uv run --no-sync cmvr-edge-ai plugins
+```
+
+配置文件不能通过 `module:Class` 任意导入代码；只会使用内置或已安装 entry point 注册的插件。插件完整生命周期、返回值规范和连接器开发约定见 [docs/architecture.md](docs/architecture.md#5-插件开发约定)。
+
+## 机器人控制安全边界
+
+控制链固定为：
+
+```text
+Policy -> RobotCommand/v1
+       -> safety.robot_command_gate@1
+       -> ApprovedRobotCommand/v1
+       -> cmvr.grpc.agv_command_sink@1
+```
+
+AGV Sink 只接受 `ApprovedRobotCommand`，原始 `RobotCommand` 会在运行时被拒绝。配置编译器还要求安全门是执行器的直接前驱；安全门与 actuator 之间不能插入其他节点，也不能增加绕过安全门的输入边。内置安全门负责过期检查和默认 5 秒的最大 TTL、动作/设备白名单、参数范围、最小发送间隔及默认开启的单调序号检查；不合格命令会被丢弃并记录 warning，不会因为一条业务拒绝停止整条 Pipeline。
+
+AGV Sink 必须绑定固定的非空 `device_id`。`set_velocity` 默认禁用；`unsafe_allow_unleased_velocity: true` 只是面向隔离测试场景的显式逃生开关，并且仍要求 Sink 配置 `vx/vy/wz` 的 `velocity_limits`。它只能限制当前客户端发出的数值，并在正常关闭时尽力调用 `stopVelocityControl`；进程崩溃、`SIGKILL`、断电或网络分区时无法保证停车。
+
+真实机器人要启用持续速度控制，必须先在 cmvr-es 服务端实现带过期时间的 lease/deadman：客户端停止续租后，由 cmvr-es 在独立于 edge-ai 进程的安全路径中自动清零速度并停车。客户端的安全门、TTL 和 shutdown hook 不能替代这项服务端保护。
+
+## 当前实现边界
+
+- 音频内部契约 `AudioChunk/v1` 已定义，但 cmvr-es 麦克风/扬声器双向流 proto 和连接器尚未落地。
+- UDP 与 QUIC 目录目前是扩展占位，没有可用传输实现。
+- 运行时 v1 只支持 `execution.mode: async|inline`，两者当前都是单 task、单并发执行。`thread`、`process`、`model_worker` 是保留值；`concurrency != 1`、非空 `max_in_flight/timeout_s`、`ordered: false` 也是保留配置，都会在编译期被拒绝。插件仍可在组件内部显式使用 `workers.run_blocking()`、`PersistentProcessWorker` 或自有模型 Worker，但不能把 `execution` 声明误当作自动调度。
+- v1 对未实现的声明采取 fail-closed：显式设置 `runtime.max_processes/process_start_method/health_bind/reserved_memory_mb`、非默认 pipeline `priority` 或任何非空 `resources` 都会在编译期被拒绝。健康状态和队列统计目前只能通过 Python API 获取。
+- 当前没有配置热更新、配置 overlay、持久化 outbox/spool 或共享内存图像池。HTTP Sink 只有当前进程内的有限重试，重试耗尽会终止 Pipeline，进程退出或断电仍可能丢失未上报告警。
+- 相机 Source 可以重连，但 cmvr-es 当前服务端通过 `getLatestEncodedFrame` 获取最新编码数据；如果上游在 edge-ai 收到之前已跳过 H264/H265 参考包，`video_contiguous` 无法补回数据，解码器只能在错误后重置并等待关键帧。正式部署应验证 cmvr-es 输出的是连续 access unit 流，或改为对 AI 友好的原始/JPEG/可检测不连续性的接口。
+- 内置 YOLO adapter 不运行 tracker，所有检测的 `track_id` 都为空；当前示例因此使用 `scope: source`。
+- PPE 权重仓库对权重的许可说明与 Ultralytics runtime/checkpoint 中的 AGPL 信息需要在商业交付前核对，并同时确认训练数据和权重分发许可。
+- 端口 schema 在编译期按字符串匹配；运行时不会自动验证 Python payload 类型，插件必须在边界处主动检查。
+- AGV 执行器不会自动重试。安全门已提供动作/设备白名单、TTL、参数范围、最小间隔和单调序号检查，但设备状态、command ID 去重、来源仲裁、服务端 lease/deadman 和急停优先级仍需按机器人型号补齐。服务端 deadman 未完成前，禁止把 `set_velocity` 用于真实机器人持续运动。
+
+这些限制及推荐演进顺序在 [docs/architecture.md](docs/architecture.md#9-当前限制与演进顺序) 中有更详细说明。
diff --git a/src/cmvr_edge_ai.egg-info/SOURCES.txt b/src/cmvr_edge_ai.egg-info/SOURCES.txt
new file mode 100644
index 0000000..96f277b
--- /dev/null
+++ b/src/cmvr_edge_ai.egg-info/SOURCES.txt
@@ -0,0 +1,207 @@
+README.md
+pyproject.toml
+src/cmvr/api/agv_command_pb2.py
+src/cmvr/api/agv_command_pb2.pyi
+src/cmvr/api/agv_command_pb2_grpc.py
+src/cmvr/api/agv_service_pb2.py
+src/cmvr/api/agv_service_pb2.pyi
+src/cmvr/api/agv_service_pb2_grpc.py
+src/cmvr/api/arm_command_pb2.py
+src/cmvr/api/arm_command_pb2.pyi
+src/cmvr/api/arm_command_pb2_grpc.py
+src/cmvr/api/arm_service_pb2.py
+src/cmvr/api/arm_service_pb2.pyi
+src/cmvr/api/arm_service_pb2_grpc.py
+src/cmvr/api/biohead_command_pb2.py
+src/cmvr/api/biohead_command_pb2.pyi
+src/cmvr/api/biohead_command_pb2_grpc.py
+src/cmvr/api/biohead_service_pb2.py
+src/cmvr/api/biohead_service_pb2.pyi
+src/cmvr/api/biohead_service_pb2_grpc.py
+src/cmvr/api/camera_command_pb2.py
+src/cmvr/api/camera_command_pb2.pyi
+src/cmvr/api/camera_command_pb2_grpc.py
+src/cmvr/api/camera_service_pb2.py
+src/cmvr/api/camera_service_pb2.pyi
+src/cmvr/api/camera_service_pb2_grpc.py
+src/cmvr/api/common_pb2.py
+src/cmvr/api/common_pb2.pyi
+src/cmvr/api/common_pb2_grpc.py
+src/cmvr/api/dexhand_command_pb2.py
+src/cmvr/api/dexhand_command_pb2.pyi
+src/cmvr/api/dexhand_command_pb2_grpc.py
+src/cmvr/api/dexhand_service_pb2.py
+src/cmvr/api/dexhand_service_pb2.pyi
+src/cmvr/api/dexhand_service_pb2_grpc.py
+src/cmvr/api/hlc_command_pb2.py
+src/cmvr/api/hlc_command_pb2.pyi
+src/cmvr/api/hlc_command_pb2_grpc.py
+src/cmvr/api/hlc_service_pb2.py
+src/cmvr/api/hlc_service_pb2.pyi
+src/cmvr/api/hlc_service_pb2_grpc.py
+src/cmvr/api/microphone_command_pb2.py
+src/cmvr/api/microphone_command_pb2.pyi
+src/cmvr/api/microphone_command_pb2_grpc.py
+src/cmvr/api/microphone_service_pb2.py
+src/cmvr/api/microphone_service_pb2.pyi
+src/cmvr/api/microphone_service_pb2_grpc.py
+src/cmvr/api/speaker_command_pb2.py
+src/cmvr/api/speaker_command_pb2.pyi
+src/cmvr/api/speaker_command_pb2_grpc.py
+src/cmvr/api/speaker_service_pb2.py
+src/cmvr/api/speaker_service_pb2.pyi
+src/cmvr/api/speaker_service_pb2_grpc.py
+src/cmvr/api/system_command_pb2.py
+src/cmvr/api/system_command_pb2.pyi
+src/cmvr/api/system_command_pb2_grpc.py
+src/cmvr/api/system_service_pb2.py
+src/cmvr/api/system_service_pb2.pyi
+src/cmvr/api/system_service_pb2_grpc.py
+src/cmvr/api/test_service_pb2.py
+src/cmvr/api/test_service_pb2.pyi
+src/cmvr/api/test_service_pb2_grpc.py
+src/cmvr/common/geometry_pb2.py
+src/cmvr/common/geometry_pb2.pyi
+src/cmvr/common/geometry_pb2_grpc.py
+src/cmvr/config/joint_limits_config_pb2.py
+src/cmvr/config/joint_limits_config_pb2.pyi
+src/cmvr/config/joint_limits_config_pb2_grpc.py
+src/cmvr/config/lawba_ik_config_pb2.py
+src/cmvr/config/lawba_ik_config_pb2.pyi
+src/cmvr/config/lawba_ik_config_pb2_grpc.py
+src/cmvr/config/pinocchio_dls_ik_config_pb2.py
+src/cmvr/config/pinocchio_dls_ik_config_pb2.pyi
+src/cmvr/config/pinocchio_dls_ik_config_pb2_grpc.py
+src/cmvr/config/pinocchio_qp_ik_config_pb2.py
+src/cmvr/config/pinocchio_qp_ik_config_pb2.pyi
+src/cmvr/config/pinocchio_qp_ik_config_pb2_grpc.py
+src/cmvr/config/srs_ik_config_pb2.py
+src/cmvr/config/srs_ik_config_pb2.pyi
+src/cmvr/config/srs_ik_config_pb2_grpc.py
+src/cmvr/config/touch_screen_algorithm_config_pb2.py
+src/cmvr/config/touch_screen_algorithm_config_pb2.pyi
+src/cmvr/config/touch_screen_algorithm_config_pb2_grpc.py
+src/cmvr/config/touch_screen_common_config_pb2.py
+src/cmvr/config/touch_screen_common_config_pb2.pyi
+src/cmvr/config/touch_screen_common_config_pb2_grpc.py
+src/cmvr/config/agv_config/agv_config_pb2.py
+src/cmvr/config/agv_config/agv_config_pb2.pyi
+src/cmvr/config/agv_config/agv_config_pb2_grpc.py
+src/cmvr/config/arm_config/arm_config_pb2.py
+src/cmvr/config/arm_config/arm_config_pb2.pyi
+src/cmvr/config/arm_config/arm_config_pb2_grpc.py
+src/cmvr/config/aubo_robot_config/aubo_robot_config_pb2.py
+src/cmvr/config/aubo_robot_config/aubo_robot_config_pb2.pyi
+src/cmvr/config/aubo_robot_config/aubo_robot_config_pb2_grpc.py
+src/cmvr/config/biohead_config/biohead_config_pb2.py
+src/cmvr/config/biohead_config/biohead_config_pb2.pyi
+src/cmvr/config/biohead_config/biohead_config_pb2_grpc.py
+src/cmvr/config/camera_config/camera_config_pb2.py
+src/cmvr/config/camera_config/camera_config_pb2.pyi
+src/cmvr/config/camera_config/camera_config_pb2_grpc.py
+src/cmvr/config/cmvr_es_config/cmvr_es_config_pb2.py
+src/cmvr/config/cmvr_es_config/cmvr_es_config_pb2.pyi
+src/cmvr/config/cmvr_es_config/cmvr_es_config_pb2_grpc.py
+src/cmvr/config/device_manager_config/device_manager_config_pb2.py
+src/cmvr/config/device_manager_config/device_manager_config_pb2.pyi
+src/cmvr/config/device_manager_config/device_manager_config_pb2_grpc.py
+src/cmvr/config/dexhand_config/dexhand_config_pb2.py
+src/cmvr/config/dexhand_config/dexhand_config_pb2.pyi
+src/cmvr/config/dexhand_config/dexhand_config_pb2_grpc.py
+src/cmvr/config/grpc_server_config/grpc_server_config_pb2.py
+src/cmvr/config/grpc_server_config/grpc_server_config_pb2.pyi
+src/cmvr/config/grpc_server_config/grpc_server_config_pb2_grpc.py
+src/cmvr/config/logger_config/logger_config_pb2.py
+src/cmvr/config/logger_config/logger_config_pb2.pyi
+src/cmvr/config/logger_config/logger_config_pb2_grpc.py
+src/cmvr/config/microphone_config/microphone_config_pb2.py
+src/cmvr/config/microphone_config/microphone_config_pb2.pyi
+src/cmvr/config/microphone_config/microphone_config_pb2_grpc.py
+src/cmvr/config/motor_config/motor_config_pb2.py
+src/cmvr/config/motor_config/motor_config_pb2.pyi
+src/cmvr/config/motor_config/motor_config_pb2_grpc.py
+src/cmvr/config/speaker_config/speaker_config_pb2.py
+src/cmvr/config/speaker_config/speaker_config_pb2.pyi
+src/cmvr/config/speaker_config/speaker_config_pb2_grpc.py
+src/cmvr/config/task_manager_config/task_manager_config_pb2.py
+src/cmvr/config/task_manager_config/task_manager_config_pb2.pyi
+src/cmvr/config/task_manager_config/task_manager_config_pb2_grpc.py
+src/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2.py
+src/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2.pyi
+src/cmvr/config/touch_screen_task_config/touch_screen_task_config_pb2_grpc.py
+src/cmvr/msgs/agv_pb2.py
+src/cmvr/msgs/agv_pb2.pyi
+src/cmvr/msgs/agv_pb2_grpc.py
+src/cmvr/msgs/can_card_parameter_pb2.py
+src/cmvr/msgs/can_card_parameter_pb2.pyi
+src/cmvr/msgs/can_card_parameter_pb2_grpc.py
+src/cmvr/msgs/canopen_pb2.py
+src/cmvr/msgs/canopen_pb2.pyi
+src/cmvr/msgs/canopen_pb2_grpc.py
+src/cmvr/msgs/error_code_pb2.py
+src/cmvr/msgs/error_code_pb2.pyi
+src/cmvr/msgs/error_code_pb2_grpc.py
+src/cmvr/msgs/motor_pb2.py
+src/cmvr/msgs/motor_pb2.pyi
+src/cmvr/msgs/motor_pb2_grpc.py
+src/cmvr/msgs/robot_detail_pb2.py
+src/cmvr/msgs/robot_detail_pb2.pyi
+src/cmvr/msgs/robot_detail_pb2_grpc.py
+src/cmvr_edge_ai/__init__.py
+src/cmvr_edge_ai/application.py
+src/cmvr_edge_ai/cli.py
+src/cmvr_edge_ai/compiler.py
+src/cmvr_edge_ai.egg-info/PKG-INFO
+src/cmvr_edge_ai.egg-info/SOURCES.txt
+src/cmvr_edge_ai.egg-info/dependency_links.txt
+src/cmvr_edge_ai.egg-info/entry_points.txt
+src/cmvr_edge_ai.egg-info/requires.txt
+src/cmvr_edge_ai.egg-info/top_level.txt
+src/cmvr_edge_ai/config/__init__.py
+src/cmvr_edge_ai/config/loader.py
+src/cmvr_edge_ai/config/models.py
+src/cmvr_edge_ai/connectors/__init__.py
+src/cmvr_edge_ai/connectors/_context.py
+src/cmvr_edge_ai/connectors/cmvr_es/__init__.py
+src/cmvr_edge_ai/connectors/cmvr_es/agv.py
+src/cmvr_edge_ai/connectors/cmvr_es/camera.py
+src/cmvr_edge_ai/connectors/cmvr_es/errors.py
+src/cmvr_edge_ai/connectors/platform/__init__.py
+src/cmvr_edge_ai/connectors/platform/http_json.py
+src/cmvr_edge_ai/contracts/__init__.py
+src/cmvr_edge_ai/contracts/control.py
+src/cmvr_edge_ai/contracts/events.py
+src/cmvr_edge_ai/contracts/media.py
+src/cmvr_edge_ai/core/__init__.py
+src/cmvr_edge_ai/core/component.py
+src/cmvr_edge_ai/core/edge_queue.py
+src/cmvr_edge_ai/core/envelope.py
+src/cmvr_edge_ai/core/runtime.py
+src/cmvr_edge_ai/detection/__init__.py
+src/cmvr_edge_ai/detection/annotation.py
+src/cmvr_edge_ai/detection/base.py
+src/cmvr_edge_ai/detection/operator.py
+src/cmvr_edge_ai/detection/plugins.py
+src/cmvr_edge_ai/detection/registry.py
+src/cmvr_edge_ai/detection/rules.py
+src/cmvr_edge_ai/detection/video.py
+src/cmvr_edge_ai/detection/models/__init__.py
+src/cmvr_edge_ai/detection/models/ppe_yolo.py
+src/cmvr_edge_ai/detection/models/yolo.py
+src/cmvr_edge_ai/observability/__init__.py
+src/cmvr_edge_ai/observability/logging.py
+src/cmvr_edge_ai/plugins/__init__.py
+src/cmvr_edge_ai/plugins/builtin.py
+src/cmvr_edge_ai/plugins/registry.py
+src/cmvr_edge_ai/transports/__init__.py
+src/cmvr_edge_ai/transports/base.py
+src/cmvr_edge_ai/transports/grpc/__init__.py
+src/cmvr_edge_ai/transports/grpc/bidi.py
+src/cmvr_edge_ai/transports/grpc/channel.py
+src/cmvr_edge_ai/transports/http/__init__.py
+src/cmvr_edge_ai/transports/http/client.py
+src/cmvr_edge_ai/transports/quic/__init__.py
+src/cmvr_edge_ai/transports/udp/__init__.py
+src/cmvr_edge_ai/workers/__init__.py
+src/cmvr_edge_ai/workers/process.py
+src/cmvr_edge_ai/workers/thread.py
\ No newline at end of file
diff --git a/src/cmvr_edge_ai.egg-info/dependency_links.txt b/src/cmvr_edge_ai.egg-info/dependency_links.txt
new file mode 100644
index 0000000..8b13789
--- /dev/null
+++ b/src/cmvr_edge_ai.egg-info/dependency_links.txt
@@ -0,0 +1 @@
+
diff --git a/src/cmvr_edge_ai.egg-info/entry_points.txt b/src/cmvr_edge_ai.egg-info/entry_points.txt
new file mode 100644
index 0000000..bdb5e17
--- /dev/null
+++ b/src/cmvr_edge_ai.egg-info/entry_points.txt
@@ -0,0 +1,2 @@
+[console_scripts]
+cmvr-edge-ai = cmvr_edge_ai.cli:main
diff --git a/src/cmvr_edge_ai.egg-info/requires.txt b/src/cmvr_edge_ai.egg-info/requires.txt
new file mode 100644
index 0000000..4f0dabc
--- /dev/null
+++ b/src/cmvr_edge_ai.egg-info/requires.txt
@@ -0,0 +1,25 @@
+pydantic<3,>=2.8
+PyYAML<7,>=6
+
+[grpc]
+grpcio<2,>=1.76
+protobuf<7,>=6.31.1
+
+[http]
+httpx<1,>=0.27
+
+[image]
+Pillow<13,>=10
+
+[video]
+av<17,>=12
+
+[yolo]
+numpy<3,>=1.24
+ultralytics==8.4.31
+
+[yolo-cpu]
+numpy<3,>=1.24
+torch==2.7.0
+torchvision==0.22.0
+ultralytics==8.4.31
diff --git a/src/cmvr_edge_ai.egg-info/top_level.txt b/src/cmvr_edge_ai.egg-info/top_level.txt
new file mode 100644
index 0000000..6cd3893
--- /dev/null
+++ b/src/cmvr_edge_ai.egg-info/top_level.txt
@@ -0,0 +1,2 @@
+cmvr
+cmvr_edge_ai
diff --git a/src/cmvr_edge_ai/__init__.py b/src/cmvr_edge_ai/__init__.py
new file mode 100644
index 0000000..a92af13
--- /dev/null
+++ b/src/cmvr_edge_ai/__init__.py
@@ -0,0 +1,3 @@
+"""CMVR edge AI pipeline runtime."""
+
+__version__ = "0.1.0"
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diff --git a/src/cmvr_edge_ai/application.py b/src/cmvr_edge_ai/application.py
new file mode 100644
index 0000000..c2afc37
--- /dev/null
+++ b/src/cmvr_edge_ai/application.py
@@ -0,0 +1,199 @@
+"""Application-level ownership for pipelines and shared network clients."""
+
+from __future__ import annotations
+
+import asyncio
+from collections.abc import Iterable
+from concurrent.futures import ThreadPoolExecutor
+from enum import Enum
+
+from cmvr_edge_ai.compiler import (
+    CompiledPipeline,
+    PipelineCompileError,
+    compile_pipeline,
+    enabled_pipeline_ids,
+)
+from cmvr_edge_ai.config import AppConfig
+from cmvr_edge_ai.connectors import register_connector_plugins
+from cmvr_edge_ai.detection import (
+    DetectionModelRegistry,
+    register_builtin_detection_models,
+    register_detection_plugins,
+)
+from cmvr_edge_ai.plugins import PluginRegistry, register_builtin_plugins
+from cmvr_edge_ai.transports.grpc import GrpcChannelPool
+from cmvr_edge_ai.transports.http import HttpClientPool
+
+
+class ApplicationState(str, Enum):
+    CREATED = "created"
+    STARTING = "starting"
+    RUNNING = "running"
+    STOPPING = "stopping"
+    STOPPED = "stopped"
+
+
+def create_default_model_registry(
+    *, discover_entry_points: bool = True
+) -> DetectionModelRegistry:
+    """Create the artifact registry used by generic detection nodes."""
+
+    registry = DetectionModelRegistry()
+    register_builtin_detection_models(registry)
+    if discover_entry_points:
+        registry.load_entry_points()
+    return registry
+
+
+def create_default_registry(
+    *,
+    discover_entry_points: bool = True,
+    model_registry: DetectionModelRegistry | None = None,
+) -> PluginRegistry:
+    registry = PluginRegistry()
+    register_builtin_plugins(registry)
+    register_connector_plugins(registry)
+    detection_models = model_registry or create_default_model_registry(
+        discover_entry_points=discover_entry_points
+    )
+    register_detection_plugins(registry, detection_models)
+    if discover_entry_points:
+        registry.load_entry_points()
+    return registry
+
+
+def validate_application(
+    config: AppConfig,
+    registry: PluginRegistry,
+    pipeline_ids: Iterable[str] | None = None,
+) -> tuple[CompiledPipeline, ...]:
+    selected = _select_pipeline_ids(config, pipeline_ids)
+    return tuple(
+        compile_pipeline(config, pipeline_id, registry) for pipeline_id in selected
+    )
+
+
+class EdgeAIApplication:
+    """Own shared transports and one or more local pipeline runtimes."""
+
+    def __init__(self, config: AppConfig, registry: PluginRegistry) -> None:
+        self.config = config
+        self.registry = registry
+        self.state = ApplicationState.CREATED
+        self.grpc_channels = GrpcChannelPool()
+        self.http_clients = HttpClientPool()
+        self._compiled: dict[str, CompiledPipeline] = {}
+        self._executor: ThreadPoolExecutor | None = None
+        self._lifecycle_lock = asyncio.Lock()
+
+    @property
+    def pipelines(self) -> tuple[str, ...]:
+        return tuple(self._compiled)
+
+    async def start(self, pipeline_ids: Iterable[str] | None = None) -> None:
+        async with self._lifecycle_lock:
+            if self.state is not ApplicationState.CREATED:
+                raise RuntimeError(
+                    f"cannot start application in state {self.state.value}"
+                )
+            selected = _select_pipeline_ids(self.config, pipeline_ids)
+            self.state = ApplicationState.STARTING
+            try:
+                self._executor = ThreadPoolExecutor(
+                    max_workers=self.config.runtime.thread_workers,
+                    thread_name_prefix="cmvr-edge-ai",
+                )
+                metadata = {
+                    "endpoints": self.config.endpoints,
+                    "grpc_channel_pool": self.grpc_channels,
+                    "http_client_pool": self.http_clients,
+                    "thread_executor": self._executor,
+                }
+                for pipeline_id in selected:
+                    compiled = compile_pipeline(
+                        self.config,
+                        pipeline_id,
+                        self.registry,
+                        metadata=metadata,
+                    )
+                    self._compiled[pipeline_id] = compiled
+                for compiled in self._compiled.values():
+                    await compiled.runtime.start()
+            except BaseException:
+                await self._stop_unlocked(graceful=False)
+                raise
+            self.state = ApplicationState.RUNNING
+
+    async def wait(self) -> None:
+        if self.state is not ApplicationState.RUNNING:
+            if self.state is ApplicationState.STOPPED:
+                return
+            raise RuntimeError("application has not been started")
+        await asyncio.gather(
+            *(compiled.runtime.wait() for compiled in self._compiled.values())
+        )
+
+    async def stop(self, *, graceful: bool = True) -> None:
+        async with self._lifecycle_lock:
+            await self._stop_unlocked(graceful=graceful)
+
+    async def _stop_unlocked(self, *, graceful: bool) -> None:
+        if self.state is ApplicationState.STOPPED:
+            return
+        self.state = ApplicationState.STOPPING
+        await asyncio.gather(
+            *(
+                compiled.runtime.stop(graceful=graceful)
+                for compiled in self._compiled.values()
+            ),
+            return_exceptions=True,
+        )
+        await asyncio.gather(
+            self.grpc_channels.close(),
+            self.http_clients.close(),
+            return_exceptions=True,
+        )
+        if self._executor is not None:
+            self._executor.shutdown(wait=False, cancel_futures=True)
+            self._executor = None
+        self.state = ApplicationState.STOPPED
+
+    async def health(self) -> dict[str, object]:
+        reports = {
+            pipeline_id: await compiled.runtime.health()
+            for pipeline_id, compiled in self._compiled.items()
+        }
+        return {"state": self.state.value, "pipelines": reports}
+
+
+def _select_pipeline_ids(
+    config: AppConfig, pipeline_ids: Iterable[str] | None
+) -> tuple[str, ...]:
+    if pipeline_ids is None:
+        selected = enabled_pipeline_ids(config)
+    else:
+        selected = tuple(dict.fromkeys(pipeline_ids))
+        unknown = sorted(set(selected) - set(config.pipelines))
+        if unknown:
+            raise PipelineCompileError(f"unknown pipeline(s): {', '.join(unknown)}")
+        disabled = sorted(
+            pipeline_id
+            for pipeline_id in selected
+            if not config.pipelines[pipeline_id].enabled
+        )
+        if disabled:
+            raise PipelineCompileError(
+                f"selected pipeline(s) are disabled: {', '.join(disabled)}"
+            )
+    if not selected:
+        raise PipelineCompileError("no enabled pipelines selected")
+    return selected
+
+
+__all__ = [
+    "ApplicationState",
+    "EdgeAIApplication",
+    "create_default_model_registry",
+    "create_default_registry",
+    "validate_application",
+]
diff --git a/src/cmvr_edge_ai/cli.py b/src/cmvr_edge_ai/cli.py
new file mode 100644
index 0000000..498ef97
--- /dev/null
+++ b/src/cmvr_edge_ai/cli.py
@@ -0,0 +1,122 @@
+"""Command-line interface for validating and running edge-AI pipelines."""
+
+from __future__ import annotations
+
+import argparse
+import asyncio
+import signal
+import sys
+from pathlib import Path
+
+from pydantic import ValidationError
+
+from cmvr_edge_ai.application import (
+    EdgeAIApplication,
+    create_default_model_registry,
+    create_default_registry,
+    validate_application,
+)
+from cmvr_edge_ai.compiler import PipelineCompileError
+from cmvr_edge_ai.config import ConfigLoadError, load_config
+from cmvr_edge_ai.observability import configure_logging
+
+
+def build_parser() -> argparse.ArgumentParser:
+    parser = argparse.ArgumentParser(prog="cmvr-edge-ai")
+    subparsers = parser.add_subparsers(dest="command", required=True)
+
+    validate = subparsers.add_parser("validate", help="validate config and DAG")
+    _add_config_arguments(validate)
+
+    run = subparsers.add_parser("run", help="run enabled pipelines")
+    _add_config_arguments(run)
+    run.add_argument("--log-level", default="INFO")
+    run.add_argument("--log-format", choices=("text", "json"), default="text")
+
+    subparsers.add_parser("plugins", help="list registered plugins")
+    subparsers.add_parser("models", help="list registered detection models")
+    return parser
+
+
+def _add_config_arguments(parser: argparse.ArgumentParser) -> None:
+    parser.add_argument("--config", "-c", type=Path, required=True)
+    parser.add_argument(
+        "--pipeline",
+        action="append",
+        dest="pipelines",
+        help="select a pipeline; repeat for multiple pipelines",
+    )
+
+
+def main(argv: list[str] | None = None) -> int:
+    args = build_parser().parse_args(argv)
+    try:
+        model_registry = create_default_model_registry()
+        registry = create_default_registry(model_registry=model_registry)
+        if args.command == "plugins":
+            for plugin_spec in registry.specs():
+                print(
+                    f"{plugin_spec.plugin_id}\t{plugin_spec.kind.value}\t"
+                    f"{plugin_spec.description}"
+                )
+            return 0
+        if args.command == "models":
+            for model_spec in model_registry.specs():
+                labels = ",".join(model_spec.supported_labels)
+                print(
+                    f"{model_spec.model_id}\t{model_spec.name}\t"
+                    f"{model_spec.backend}\t{labels}"
+                )
+            return 0
+
+        config = load_config(args.config)
+        if args.command == "validate":
+            compiled = validate_application(config, registry, args.pipelines)
+            names = ", ".join(item.pipeline_id for item in compiled)
+            print(f"configuration is valid; pipelines: {names}")
+            return 0
+
+        configure_logging(args.log_level, args.log_format)
+        return asyncio.run(_run_application(config, registry, args.pipelines))
+    except (ConfigLoadError, ValidationError, PipelineCompileError, ValueError) as exc:
+        print(f"configuration error: {exc}", file=sys.stderr)
+        return 2
+    except KeyboardInterrupt:
+        return 130
+    except Exception as exc:
+        print(f"runtime error: {exc}", file=sys.stderr)
+        return 1
+
+
+async def _run_application(config, registry, pipeline_ids) -> int:  # type: ignore[no-untyped-def]
+    application = EdgeAIApplication(config, registry)
+    stop_event = asyncio.Event()
+    loop = asyncio.get_running_loop()
+    for signum in (signal.SIGINT, signal.SIGTERM):
+        try:
+            loop.add_signal_handler(signum, stop_event.set)
+        except NotImplementedError:
+            pass
+
+    await application.start(pipeline_ids)
+    wait_task = asyncio.create_task(application.wait(), name="application-wait")
+    signal_task = asyncio.create_task(stop_event.wait(), name="application-signal")
+    try:
+        done, _ = await asyncio.wait(
+            (wait_task, signal_task), return_when=asyncio.FIRST_COMPLETED
+        )
+        if wait_task in done:
+            await wait_task
+        else:
+            await application.stop(graceful=True)
+            wait_task.cancel()
+            await asyncio.gather(wait_task, return_exceptions=True)
+    finally:
+        signal_task.cancel()
+        await asyncio.gather(signal_task, return_exceptions=True)
+        await application.stop(graceful=True)
+    return 0
+
+
+if __name__ == "__main__":
+    raise SystemExit(main())
diff --git a/src/cmvr_edge_ai/compiler.py b/src/cmvr_edge_ai/compiler.py
new file mode 100644
index 0000000..f68d8c1
--- /dev/null
+++ b/src/cmvr_edge_ai/compiler.py
@@ -0,0 +1,375 @@
+"""Compile strict YAML configuration into executable pipeline runtimes."""
+
+from __future__ import annotations
+
+from collections.abc import Mapping
+from dataclasses import dataclass
+from typing import Any
+
+from cmvr_edge_ai.config import AppConfig, PipelineConfig
+from cmvr_edge_ai.core import Component, Edge, Operator, OverflowPolicy, Sink, Source
+from cmvr_edge_ai.core.runtime import PipelineRuntime
+from cmvr_edge_ai.plugins import (
+    PluginKind,
+    PluginRegistry,
+    PluginSpec,
+    schemas_compatible,
+)
+
+
+SUPPORTED_API_VERSION = "cmvr.edge.ai/v1"
+
+
+class PipelineCompileError(ValueError):
+    """Raised when a valid YAML document cannot form an executable graph."""
+
+
+@dataclass(frozen=True, slots=True)
+class CompiledPipeline:
+    pipeline_id: str
+    runtime: PipelineRuntime
+    plugin_specs: Mapping[str, PluginSpec]
+
+
+def compile_pipeline(
+    config: AppConfig,
+    pipeline_id: str,
+    registry: PluginRegistry,
+    *,
+    metadata: Mapping[str, Any] | None = None,
+) -> CompiledPipeline:
+    if config.api_version != SUPPORTED_API_VERSION:
+        raise PipelineCompileError(
+            f"unsupported api_version {config.api_version!r}; "
+            f"expected {SUPPORTED_API_VERSION!r}"
+        )
+    try:
+        pipeline = config.pipelines[pipeline_id]
+    except KeyError as exc:
+        raise PipelineCompileError(f"unknown pipeline: {pipeline_id}") from exc
+    if not pipeline.enabled:
+        raise PipelineCompileError(f"pipeline is disabled: {pipeline_id}")
+
+    _validate_supported_runtime_config(config)
+    _validate_supported_pipeline_config(pipeline_id, pipeline)
+
+    components: dict[str, Component] = {}
+    specs: dict[str, PluginSpec] = {}
+    for node_id, node_config in pipeline.nodes.items():
+        if not node_config.enabled:
+            raise PipelineCompileError(
+                f"active pipeline {pipeline_id!r} contains disabled node {node_id!r}; "
+                "disable the whole pipeline or remove its edges"
+            )
+        _validate_supported_node_config(node_id, node_config)
+        try:
+            spec = registry.resolve(node_config.uses)
+            component = registry.create(
+                node_config.uses, node_id=node_id, params=node_config.params
+            )
+        except Exception as exc:
+            raise PipelineCompileError(
+                f"failed to construct node {node_id!r} from {node_config.uses!r}: {exc}"
+            ) from exc
+        _validate_component_kind(node_id, component, spec)
+        _validate_endpoint_reference(config, node_id, node_config.params, spec)
+        components[node_id] = component
+        specs[node_id] = spec
+
+    runtime_edges: list[Edge] = []
+    for index, edge_config in enumerate(pipeline.edges):
+        source_node, source_port = edge_config.source.split(".", maxsplit=1)
+        target_node, target_port = edge_config.target.split(".", maxsplit=1)
+        source_spec = specs[source_node]
+        target_spec = specs[target_node]
+
+        source_schema = _port_schema(
+            source_spec.outputs, source_port, edge_config.source, "output"
+        )
+        target_schema = _port_schema(
+            target_spec.inputs, target_port, edge_config.target, "input"
+        )
+        if not schemas_compatible(source_schema, target_schema):
+            raise PipelineCompileError(
+                f"schema mismatch on edge {edge_config.source!r} -> "
+                f"{edge_config.target!r}: {source_schema!r} is not compatible "
+                f"with {target_schema!r}"
+            )
+
+        if edge_config.qos.max_age_ms is not None:
+            raise PipelineCompileError(
+                f"edge {edge_config.source!r} -> {edge_config.target!r} sets "
+                "max_age_ms, which is reserved for the deadline-aware runtime"
+            )
+        if edge_config.qos.put_timeout_ms is not None:
+            raise PipelineCompileError(
+                f"edge {edge_config.source!r} -> {edge_config.target!r} sets "
+                "put_timeout_ms, which is not implemented in runtime v1"
+            )
+        _validate_qos_profile(edge_config.source, edge_config.target, edge_config.qos)
+
+        overflow = edge_config.qos.overflow
+        if overflow == "error":
+            overflow = OverflowPolicy.REJECT.value
+        runtime_edges.append(
+            Edge(
+                source_node=source_node,
+                source_port=source_port,
+                target_node=target_node,
+                target_port=target_port,
+                capacity=edge_config.qos.capacity,
+                overflow=overflow,
+                name=f"{pipeline_id}:{index}:{edge_config.source}->{edge_config.target}",
+            )
+        )
+
+    _validate_detection_rule_paths(pipeline, specs, components)
+    _validate_actuator_paths(pipeline, specs)
+    runtime_metadata = dict(metadata or {})
+    runtime_metadata.setdefault("endpoints", config.endpoints)
+    runtime_metadata.setdefault("node_configs", pipeline.nodes)
+    runtime = PipelineRuntime(
+        components,
+        runtime_edges,
+        pipeline_id=pipeline_id,
+        shutdown_timeout_s=config.runtime.shutdown_timeout_s,
+        metadata=runtime_metadata,
+    )
+    return CompiledPipeline(pipeline_id, runtime, specs)
+
+
+def enabled_pipeline_ids(config: AppConfig) -> tuple[str, ...]:
+    return tuple(
+        pipeline_id
+        for pipeline_id, pipeline in config.pipelines.items()
+        if pipeline.enabled
+    )
+
+
+def _validate_component_kind(node_id: str, component: Any, spec: PluginSpec) -> None:
+    expected_type: type[Component]
+    if spec.kind is PluginKind.SOURCE:
+        expected_type = Source
+    elif spec.kind is PluginKind.OPERATOR:
+        expected_type = Operator
+    else:
+        expected_type = Sink
+    if not isinstance(component, expected_type):
+        raise PipelineCompileError(
+            f"plugin {spec.plugin_id!r} declares {spec.kind.value} but node "
+            f"{node_id!r} created {type(component).__name__}"
+        )
+
+
+def _port_schema(
+    ports: Mapping[str, str], port: str, reference: str, direction: str
+) -> str:
+    try:
+        return ports[port]
+    except KeyError as exc:
+        available = ", ".join(sorted(ports)) or "<none>"
+        raise PipelineCompileError(
+            f"unknown {direction} port {reference!r}; available: {available}"
+        ) from exc
+
+
+def _validate_endpoint_reference(
+    config: AppConfig,
+    node_id: str,
+    params: Mapping[str, Any],
+    spec: PluginSpec,
+) -> None:
+    endpoint_id = params.get("endpoint")
+    transport_tags = sorted(
+        tag.removeprefix("transport:")
+        for tag in spec.tags
+        if tag.startswith("transport:")
+    )
+    if endpoint_id is None:
+        if transport_tags:
+            raise PipelineCompileError(
+                f"connector node {node_id!r} requires a named endpoint"
+            )
+        return
+    if not isinstance(endpoint_id, str) or endpoint_id not in config.endpoints:
+        raise PipelineCompileError(
+            f"node {node_id!r} references unknown endpoint {endpoint_id!r}"
+        )
+    endpoint = config.endpoints[endpoint_id]
+    if transport_tags and endpoint.transport not in transport_tags:
+        raise PipelineCompileError(
+            f"node {node_id!r} requires transport {transport_tags}, but endpoint "
+            f"{endpoint_id!r} uses {endpoint.transport!r}"
+        )
+
+
+def _validate_actuator_paths(
+    pipeline: PipelineConfig, specs: Mapping[str, PluginSpec]
+) -> None:
+    """Require a trusted safety gate immediately before every actuator.
+
+    Requiring only *some* earlier gate lets an arbitrary transform mutate the
+    approved command after validation.  The immediate-boundary rule also makes
+    the trust boundary visible in the graph.
+    """
+
+    predecessors: dict[str, set[str]] = {node_id: set() for node_id in pipeline.nodes}
+    for edge in pipeline.edges:
+        predecessors[edge.target_node].add(edge.source_node)
+
+    unsafe = sorted(
+        node_id
+        for node_id, spec in specs.items()
+        if "actuator" in spec.tags
+        and (
+            not predecessors[node_id]
+            or any(
+                "safety_gate" not in specs[parent].tags
+                for parent in predecessors[node_id]
+            )
+        )
+    )
+    if unsafe:
+        raise PipelineCompileError(
+            "every actuator input must pass through a safety gate directly; "
+            f"unsafe actuator node(s): {', '.join(unsafe)}"
+        )
+
+
+def _validate_supported_runtime_config(config: AppConfig) -> None:
+    reserved = {
+        "max_processes",
+        "process_start_method",
+        "health_bind",
+        "reserved_memory_mb",
+    } & config.runtime.model_fields_set
+    if reserved:
+        raise PipelineCompileError(
+            "runtime field(s) are reserved but not enforced in v1; remove them: "
+            + ", ".join(sorted(reserved))
+        )
+
+
+def _validate_supported_pipeline_config(
+    pipeline_id: str, pipeline: PipelineConfig
+) -> None:
+    if pipeline.priority != "normal":
+        raise PipelineCompileError(
+            f"pipeline {pipeline_id!r} sets priority={pipeline.priority!r}, but "
+            "runtime v1 has no priority scheduler"
+        )
+
+
+def _validate_supported_node_config(node_id: str, node: Any) -> None:
+    execution = node.execution
+    unsupported_execution: list[str] = []
+    if execution.mode not in {"async", "inline"}:
+        unsupported_execution.append(f"mode={execution.mode!r}")
+    if execution.concurrency != 1:
+        unsupported_execution.append(f"concurrency={execution.concurrency}")
+    if execution.max_in_flight is not None:
+        unsupported_execution.append(f"max_in_flight={execution.max_in_flight}")
+    if execution.timeout_s is not None:
+        unsupported_execution.append(f"timeout_s={execution.timeout_s}")
+    if not execution.ordered:
+        unsupported_execution.append("ordered=false")
+    if unsupported_execution:
+        raise PipelineCompileError(
+            f"node {node_id!r} requests execution settings not implemented by "
+            "runtime v1: " + ", ".join(unsupported_execution)
+        )
+
+    resources = node.resources
+    declared_resources = [
+        name
+        for name, value in resources.model_dump().items()
+        if (name == "exclusive_gpu" and value is True)
+        or (name != "exclusive_gpu" and value is not None)
+    ]
+    if declared_resources:
+        raise PipelineCompileError(
+            f"node {node_id!r} declares resource limits that runtime v1 cannot "
+            "enforce: " + ", ".join(declared_resources)
+        )
+
+
+def _validate_qos_profile(source: str, target: str, qos: Any) -> None:
+    allowed_overflow = {
+        "realtime_latest": {"drop_oldest", "drop_newest"},
+        "audio_contiguous": {"block", "reject", "error"},
+        # Inter-frame codecs cannot silently lose arbitrary packets before
+        # decode.  Dropping is safe only after complete images are produced.
+        "video_contiguous": {"block", "reject", "error"},
+        "request": {"block", "reject", "error"},
+        "telemetry": {"block", "drop_oldest", "drop_newest", "reject", "error"},
+    }
+    try:
+        allowed = allowed_overflow[qos.profile]
+    except KeyError as exc:
+        raise PipelineCompileError(
+            f"edge {source!r} -> {target!r} uses unknown qos profile "
+            f"{qos.profile!r}; supported profiles: "
+            + ", ".join(sorted(allowed_overflow))
+        ) from exc
+    if qos.overflow not in allowed:
+        raise PipelineCompileError(
+            f"edge {source!r} -> {target!r} profile {qos.profile!r} does not "
+            f"allow overflow={qos.overflow!r}; allowed: {', '.join(sorted(allowed))}"
+        )
+
+
+def _validate_detection_rule_paths(
+    pipeline: PipelineConfig,
+    specs: Mapping[str, PluginSpec],
+    components: Mapping[str, Component],
+) -> None:
+    """Reject rules that can never match their directly connected detector.
+
+    The generic detector validates labels against model registration metadata.
+    This edge-level check closes the remaining configuration gap between its
+    selected output labels and a repeat gate's rules without coupling the core
+    configuration schema to one model backend.
+    """
+
+    for edge in pipeline.edges:
+        source_id = edge.source_node
+        target_id = edge.target_node
+        if specs[source_id].plugin_id != "detection.model@1":
+            continue
+        if specs[target_id].plugin_id != "detection.repeat_gate@1":
+            continue
+        selected = frozenset(
+            str(label)
+            for label in getattr(components[source_id], "selected_labels", ())
+        )
+        rules = getattr(components[target_id], "rules", ())
+        if getattr(components[target_id], "alert_image_enabled", False) and not getattr(
+            components[source_id], "attach_frame", False
+        ):
+            raise PipelineCompileError(
+                f"detection rule node {target_id!r} enables alert_image, but "
+                f"detector {source_id!r} does not set attach_frame=true"
+            )
+        unknown_by_rule = {
+            str(rule.rule_id): sorted(set(rule.labels) - selected)
+            for rule in rules
+            if set(rule.labels) - selected
+        }
+        if unknown_by_rule:
+            details = "; ".join(
+                f"{rule_id}: {', '.join(labels)}"
+                for rule_id, labels in sorted(unknown_by_rule.items())
+            )
+            raise PipelineCompileError(
+                f"detection rule node {target_id!r} references labels not emitted "
+                f"by detector {source_id!r}: {details}"
+            )
+
+
+__all__ = [
+    "CompiledPipeline",
+    "PipelineCompileError",
+    "SUPPORTED_API_VERSION",
+    "compile_pipeline",
+    "enabled_pipeline_ids",
+]
diff --git a/src/cmvr_edge_ai/config/__init__.py b/src/cmvr_edge_ai/config/__init__.py
new file mode 100644
index 0000000..1878ef7
--- /dev/null
+++ b/src/cmvr_edge_ai/config/__init__.py
@@ -0,0 +1,45 @@
+"""Public configuration API."""
+
+from .loader import (
+    ConfigLoadError,
+    MissingEnvironmentVariable,
+    expand_environment,
+    load_config,
+    load_config_data,
+    load_config_text,
+)
+from .models import (
+    AppConfig,
+    EdgeAIConfig,
+    EdgeConfig,
+    EndpointConfig,
+    ExecutionConfig,
+    NodeConfig,
+    PipelineConfig,
+    PipelinePriority,
+    QoSConfig,
+    ResourceConfig,
+    RuntimeConfig,
+    StrictConfigModel,
+)
+
+__all__ = [
+    "AppConfig",
+    "ConfigLoadError",
+    "EdgeAIConfig",
+    "EdgeConfig",
+    "EndpointConfig",
+    "ExecutionConfig",
+    "MissingEnvironmentVariable",
+    "NodeConfig",
+    "PipelineConfig",
+    "PipelinePriority",
+    "QoSConfig",
+    "ResourceConfig",
+    "RuntimeConfig",
+    "StrictConfigModel",
+    "expand_environment",
+    "load_config",
+    "load_config_data",
+    "load_config_text",
+]
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diff --git a/src/cmvr_edge_ai/config/loader.py b/src/cmvr_edge_ai/config/loader.py
new file mode 100644
index 0000000..351df51
--- /dev/null
+++ b/src/cmvr_edge_ai/config/loader.py
@@ -0,0 +1,145 @@
+"""YAML loading and environment expansion for edge-AI configuration."""
+
+from __future__ import annotations
+
+import os
+import re
+from collections.abc import Mapping
+from pathlib import Path
+from typing import Any
+
+import yaml  # type: ignore[import-untyped]
+
+from .models import AppConfig
+
+
+_ENV_EXACT_PATTERN = re.compile(r"^env://(?P<name>[A-Za-z_][A-Za-z0-9_]*)$")
+_ENV_TEMPLATE_PATTERN = re.compile(
+    r"\$\{(?P<name>[A-Za-z_][A-Za-z0-9_]*)" r"(?::-(?P<default>[^}]*))?\}"
+)
+
+
+class ConfigLoadError(ValueError):
+    """Raised when a configuration document cannot be read or expanded."""
+
+
+class MissingEnvironmentVariable(ConfigLoadError):
+    """Raised when a required environment variable is not available."""
+
+
+def expand_environment(
+    value: Any,
+    environ: Mapping[str, str] | None = None,
+) -> Any:
+    """Recursively expand environment references in a YAML-compatible value.
+
+    Supported string forms are:
+
+    * ``${NAME}`` -- ``NAME`` is required;
+    * ``${NAME:-default}`` -- use ``default`` when ``NAME`` is unset or empty;
+    * ``env://NAME`` -- resolve the entire value from required ``NAME``.
+
+    Expansion traverses mappings, lists, and tuples without mutating the input.
+    Environment substitution deliberately returns strings; Pydantic performs
+    the final conversion according to the target configuration field.
+    """
+
+    environment = os.environ if environ is None else environ
+
+    if isinstance(value, str):
+        return _expand_string(value, environment)
+    if isinstance(value, Mapping):
+        return {
+            key: expand_environment(item, environment) for key, item in value.items()
+        }
+    if isinstance(value, list):
+        return [expand_environment(item, environment) for item in value]
+    if isinstance(value, tuple):
+        return tuple(expand_environment(item, environment) for item in value)
+    return value
+
+
+def load_config_data(
+    data: Mapping[str, Any],
+    *,
+    environ: Mapping[str, str] | None = None,
+) -> AppConfig:
+    """Expand and validate an already parsed configuration mapping."""
+
+    if not isinstance(data, Mapping):
+        raise ConfigLoadError("configuration root must be a YAML mapping")
+    expanded = expand_environment(data, environ)
+    return AppConfig.model_validate(expanded)
+
+
+def load_config_text(
+    text: str,
+    *,
+    environ: Mapping[str, str] | None = None,
+) -> AppConfig:
+    """Parse, expand, and validate a YAML configuration string."""
+
+    try:
+        data = yaml.safe_load(text)
+    except yaml.YAMLError as exc:
+        raise ConfigLoadError(f"invalid YAML configuration: {exc}") from exc
+
+    if not isinstance(data, Mapping):
+        raise ConfigLoadError("configuration root must be a YAML mapping")
+    return load_config_data(data, environ=environ)
+
+
+def load_config(
+    path: str | os.PathLike[str],
+    *,
+    environ: Mapping[str, str] | None = None,
+) -> AppConfig:
+    """Load, expand, and validate an edge-AI YAML configuration file."""
+
+    config_path = Path(path)
+    try:
+        text = config_path.read_text(encoding="utf-8")
+    except OSError as exc:
+        raise ConfigLoadError(
+            f"unable to read configuration file {config_path}: {exc}"
+        ) from exc
+
+    try:
+        return load_config_text(text, environ=environ)
+    except ConfigLoadError as exc:
+        raise ConfigLoadError(f"failed to load {config_path}: {exc}") from exc
+
+
+def _expand_string(value: str, environ: Mapping[str, str]) -> str:
+    exact_match = _ENV_EXACT_PATTERN.fullmatch(value)
+    if exact_match:
+        name = exact_match.group("name")
+        if name not in environ:
+            raise MissingEnvironmentVariable(
+                f"required environment variable {name!r} is not set"
+            )
+        return environ[name]
+
+    def replace(match: re.Match[str]) -> str:
+        name = match.group("name")
+        default = match.group("default")
+        current = environ.get(name)
+        if current is not None and (current != "" or default is None):
+            return current
+        if default is not None:
+            return default
+        raise MissingEnvironmentVariable(
+            f"required environment variable {name!r} is not set"
+        )
+
+    return _ENV_TEMPLATE_PATTERN.sub(replace, value)
+
+
+__all__ = [
+    "ConfigLoadError",
+    "MissingEnvironmentVariable",
+    "expand_environment",
+    "load_config",
+    "load_config_data",
+    "load_config_text",
+]
diff --git a/src/cmvr_edge_ai/config/models.py b/src/cmvr_edge_ai/config/models.py
new file mode 100644
index 0000000..77ac8e1
--- /dev/null
+++ b/src/cmvr_edge_ai/config/models.py
@@ -0,0 +1,363 @@
+"""Strict configuration models for the edge-AI pipeline runtime.
+
+The models in this module intentionally do not import the component registry or
+the runtime.  This keeps configuration validation usable by command-line tools,
+tests, and deployment checks without initializing any transports or models.
+"""
+
+from __future__ import annotations
+
+import re
+from typing import Any, Literal
+
+from pydantic import BaseModel, ConfigDict, Field, field_validator, model_validator
+
+
+_IDENTIFIER_PATTERN = re.compile(r"^[A-Za-z_][A-Za-z0-9_-]*$")
+_PORT_REFERENCE_PATTERN = re.compile(
+    r"^(?P<node>[A-Za-z_][A-Za-z0-9_-]*)\." r"(?P<port>[A-Za-z_][A-Za-z0-9_-]*)$"
+)
+
+
+class StrictConfigModel(BaseModel):
+    """Base class shared by all public configuration models."""
+
+    model_config = ConfigDict(
+        extra="forbid",
+        populate_by_name=True,
+        validate_default=True,
+    )
+
+
+class RuntimeConfig(StrictConfigModel):
+    """Process-wide limits and lifecycle settings for the local runtime."""
+
+    thread_workers: int = Field(default=4, ge=1, le=256)
+    max_processes: int = Field(default=1, ge=0, le=64)
+    process_start_method: Literal["spawn", "forkserver", "fork"] = "spawn"
+    shutdown_timeout_s: float = Field(default=10.0, gt=0, le=300.0)
+    health_bind: str | None = None
+    reserved_memory_mb: int = Field(default=0, ge=0)
+
+    @field_validator("health_bind")
+    @classmethod
+    def validate_health_bind(cls, value: str | None) -> str | None:
+        if value is not None and not value.strip():
+            raise ValueError("health_bind must not be empty")
+        return value
+
+
+class EndpointConfig(StrictConfigModel):
+    """A named external endpoint used by one or more connector nodes.
+
+    Transport-specific settings belong under ``options`` so that adding QUIC or
+    a vendor-specific protocol does not require weakening top-level validation.
+    """
+
+    transport: str = Field(min_length=1)
+    target: str | None = None
+    base_url: str | None = None
+    bind: str | None = None
+    tls: bool = False
+    timeout_s: float = Field(default=5.0, gt=0, le=3600.0)
+    metadata: dict[str, str] = Field(default_factory=dict)
+    options: dict[str, Any] = Field(default_factory=dict)
+
+    @field_validator("transport")
+    @classmethod
+    def normalize_transport(cls, value: str) -> str:
+        value = value.strip().lower()
+        if not value:
+            raise ValueError("transport must not be empty")
+        return value
+
+    @field_validator("target", "base_url", "bind")
+    @classmethod
+    def reject_empty_endpoint_values(cls, value: str | None) -> str | None:
+        if value is not None and not value.strip():
+            raise ValueError("endpoint address must not be empty")
+        return value
+
+    @model_validator(mode="after")
+    def validate_transport_address(self) -> EndpointConfig:
+        """Validate the transports implemented by the built-in connectors.
+
+        Unknown transport names remain available to third-party plugins.  Once
+        a transport is one of the built-ins, however, accepting an incomplete
+        endpoint here would only defer a deterministic error until startup.
+        """
+
+        if self.transport == "grpc":
+            if self.target is None:
+                raise ValueError("gRPC endpoint requires target")
+            if self.base_url is not None:
+                raise ValueError("gRPC endpoint must not set base_url")
+            channel_options = self.options.get("channel_options", {})
+            if not isinstance(channel_options, dict):
+                raise ValueError("gRPC options.channel_options must be a mapping")
+            invalid_options = sorted(
+                str(key)
+                for key, value in channel_options.items()
+                if not isinstance(key, str)
+                or isinstance(value, bool)
+                or not isinstance(value, (int, str))
+            )
+            if invalid_options:
+                raise ValueError(
+                    "gRPC channel option values must be int or str: "
+                    + ", ".join(invalid_options)
+                )
+        elif self.transport == "http":
+            if self.base_url is None:
+                raise ValueError("HTTP endpoint requires base_url")
+            if not self.base_url.startswith(("http://", "https://")):
+                raise ValueError("HTTP base_url must start with http:// or https://")
+            if self.target is not None:
+                raise ValueError("HTTP endpoint must not set target")
+            if "tls" in self.model_fields_set:
+                raise ValueError(
+                    "HTTP endpoint must not set tls; use an https:// base_url and "
+                    "options.verify_tls (default true)"
+                )
+            verify_tls = self.options.get("verify_tls", True)
+            if not isinstance(verify_tls, bool):
+                raise ValueError("HTTP options.verify_tls must be boolean")
+        return self
+
+
+class ExecutionConfig(StrictConfigModel):
+    """How a node is scheduled by the runtime."""
+
+    mode: Literal["async", "inline", "thread", "process", "model_worker"] = "async"
+    concurrency: int = Field(default=1, ge=1, le=1024)
+    max_in_flight: int | None = Field(default=None, ge=1, le=65536)
+    timeout_s: float | None = Field(default=None, gt=0, le=86400.0)
+    ordered: bool = True
+
+
+class ResourceConfig(StrictConfigModel):
+    """Optional resource budget declared by a node."""
+
+    cpu_cores: float | None = Field(default=None, gt=0)
+    memory_mb: int | None = Field(default=None, gt=0)
+    gpu_device: int | str | None = None
+    gpu_memory_mb: int | None = Field(default=None, gt=0)
+    exclusive_gpu: bool = False
+
+    @field_validator("gpu_device")
+    @classmethod
+    def validate_gpu_device(cls, value: int | str | None) -> int | str | None:
+        if isinstance(value, int) and value < 0:
+            raise ValueError("gpu_device must be non-negative")
+        if isinstance(value, str) and not value.strip():
+            raise ValueError("gpu_device must not be empty")
+        return value
+
+
+class QoSConfig(StrictConfigModel):
+    """Bounded-queue policy for a single directed edge."""
+
+    # Lossless backpressure is the safe generic default.  Real-time sensor
+    # pipelines must opt into frame dropping explicitly per edge.
+    profile: str = Field(default="request", min_length=1)
+    capacity: int = Field(default=1, ge=1, le=1_000_000)
+    overflow: Literal["drop_oldest", "drop_newest", "block", "reject", "error"] = (
+        "block"
+    )
+    max_age_ms: float | None = Field(default=None, gt=0)
+    put_timeout_ms: float | None = Field(default=None, ge=0)
+
+    @field_validator("profile")
+    @classmethod
+    def validate_profile(cls, value: str) -> str:
+        value = value.strip()
+        if not value:
+            raise ValueError("qos profile must not be empty")
+        return value
+
+
+class NodeConfig(StrictConfigModel):
+    """A configured component instance in a pipeline graph."""
+
+    uses: str = Field(min_length=1)
+    params: dict[str, Any] = Field(default_factory=dict, alias="with")
+    execution: ExecutionConfig = Field(default_factory=ExecutionConfig)
+    resources: ResourceConfig = Field(default_factory=ResourceConfig)
+    enabled: bool = True
+
+    @field_validator("uses")
+    @classmethod
+    def validate_component_id(cls, value: str) -> str:
+        value = value.strip()
+        if not value:
+            raise ValueError("uses must not be empty")
+        return value
+
+
+class EdgeConfig(StrictConfigModel):
+    """A connection from one ``node.port`` to another ``node.port``."""
+
+    source: str = Field(alias="from")
+    target: str = Field(alias="to")
+    qos: QoSConfig = Field(default_factory=QoSConfig)
+
+    @field_validator("source", "target")
+    @classmethod
+    def validate_port_reference(cls, value: str) -> str:
+        if not _PORT_REFERENCE_PATTERN.fullmatch(value):
+            raise ValueError(
+                "port reference must use 'node.port' format; node and port may "
+                "contain letters, digits, '_' or '-'"
+            )
+        return value
+
+    @property
+    def source_node(self) -> str:
+        return self.source.split(".", maxsplit=1)[0]
+
+    @property
+    def target_node(self) -> str:
+        return self.target.split(".", maxsplit=1)[0]
+
+
+PipelinePriority = Literal["low", "normal", "high"] | int
+
+
+class PipelineConfig(StrictConfigModel):
+    """A validated directed acyclic graph of configured nodes."""
+
+    enabled: bool = True
+    priority: PipelinePriority = "normal"
+    nodes: dict[str, NodeConfig]
+    edges: list[EdgeConfig] = Field(default_factory=list)
+
+    @field_validator("priority")
+    @classmethod
+    def validate_priority(cls, value: PipelinePriority) -> PipelinePriority:
+        if isinstance(value, int) and not 0 <= value <= 100:
+            raise ValueError("numeric priority must be between 0 and 100")
+        return value
+
+    @field_validator("nodes")
+    @classmethod
+    def validate_node_names(cls, value: dict[str, NodeConfig]) -> dict[str, NodeConfig]:
+        if not value:
+            raise ValueError("pipeline must contain at least one node")
+        invalid = sorted(
+            name for name in value if not _IDENTIFIER_PATTERN.fullmatch(name)
+        )
+        if invalid:
+            raise ValueError(
+                "invalid node name(s): "
+                + ", ".join(invalid)
+                + "; names may contain letters, digits, '_' or '-' and may not "
+                "start with a digit"
+            )
+        return value
+
+    @model_validator(mode="after")
+    def validate_graph(self) -> PipelineConfig:
+        node_names = set(self.nodes)
+        adjacency: dict[str, set[str]] = {name: set() for name in node_names}
+        indegree = {name: 0 for name in node_names}
+
+        for edge in self.edges:
+            missing = {
+                name
+                for name in (edge.source_node, edge.target_node)
+                if name not in node_names
+            }
+            if missing:
+                raise ValueError(
+                    f"edge {edge.source!r} -> {edge.target!r} references unknown "
+                    f"node(s): {', '.join(sorted(missing))}"
+                )
+
+            # Multiple ports may connect the same pair of nodes.  They represent
+            # one dependency for cycle detection.
+            if edge.target_node not in adjacency[edge.source_node]:
+                adjacency[edge.source_node].add(edge.target_node)
+                indegree[edge.target_node] += 1
+
+        ready = [name for name, degree in indegree.items() if degree == 0]
+        visited = 0
+        while ready:
+            current = ready.pop()
+            visited += 1
+            for target in adjacency[current]:
+                indegree[target] -= 1
+                if indegree[target] == 0:
+                    ready.append(target)
+
+        if visited != len(node_names):
+            cycle_nodes = sorted(
+                name for name, degree in indegree.items() if degree > 0
+            )
+            raise ValueError(
+                "pipeline graph must be acyclic; cycle involves: "
+                + ", ".join(cycle_nodes)
+            )
+        return self
+
+
+class AppConfig(StrictConfigModel):
+    """Root configuration document for a cmvr-edge-ai process."""
+
+    api_version: str = Field(min_length=1)
+    runtime: RuntimeConfig = Field(default_factory=RuntimeConfig)
+    endpoints: dict[str, EndpointConfig] = Field(default_factory=dict)
+    pipelines: dict[str, PipelineConfig]
+
+    @field_validator("api_version")
+    @classmethod
+    def validate_api_version(cls, value: str) -> str:
+        value = value.strip()
+        if not value:
+            raise ValueError("api_version must not be empty")
+        return value
+
+    @field_validator("endpoints")
+    @classmethod
+    def validate_endpoint_names(
+        cls, value: dict[str, EndpointConfig]
+    ) -> dict[str, EndpointConfig]:
+        return _validate_named_mapping("endpoint", value)
+
+    @field_validator("pipelines")
+    @classmethod
+    def validate_pipeline_names(
+        cls, value: dict[str, PipelineConfig]
+    ) -> dict[str, PipelineConfig]:
+        if not value:
+            raise ValueError("configuration must contain at least one pipeline")
+        return _validate_named_mapping("pipeline", value)
+
+
+def _validate_named_mapping(name: str, value: dict[str, Any]) -> dict[str, Any]:
+    invalid = sorted(key for key in value if not _IDENTIFIER_PATTERN.fullmatch(key))
+    if invalid:
+        raise ValueError(
+            f"invalid {name} name(s): {', '.join(invalid)}; names may contain "
+            "letters, digits, '_' or '-' and may not start with a digit"
+        )
+    return value
+
+
+# A descriptive alias for callers that prefer the project's full name.
+EdgeAIConfig = AppConfig
+
+
+__all__ = [
+    "AppConfig",
+    "EdgeAIConfig",
+    "EdgeConfig",
+    "EndpointConfig",
+    "ExecutionConfig",
+    "NodeConfig",
+    "PipelineConfig",
+    "PipelinePriority",
+    "QoSConfig",
+    "ResourceConfig",
+    "RuntimeConfig",
+    "StrictConfigModel",
+]
diff --git a/src/cmvr_edge_ai/connectors/__init__.py b/src/cmvr_edge_ai/connectors/__init__.py
new file mode 100644
index 0000000..495b5ff
--- /dev/null
+++ b/src/cmvr_edge_ai/connectors/__init__.py
@@ -0,0 +1,42 @@
+"""Protocol-specific boundary connectors and their plugin registrations."""
+
+from cmvr_edge_ai.plugins import PluginKind, PluginRegistry, PluginSpec
+
+from .cmvr_es import CmvrAgvCommandSink, CmvrCameraRgbStreamSource
+from .platform import PlatformHttpJsonSink
+
+
+def register_connector_plugins(registry: PluginRegistry) -> None:
+    registry.register(
+        PluginSpec(
+            plugin_id="cmvr.grpc.camera_rgb_stream@1",
+            kind=PluginKind.SOURCE,
+            factory=CmvrCameraRgbStreamSource,
+            outputs={"frames": "ImageFrame/v1"},
+            description="Start and subscribe to a cmvr-es encoded RGB camera stream",
+            tags=frozenset({"sensor", "transport:grpc"}),
+        )
+    )
+    registry.register(
+        PluginSpec(
+            plugin_id="cmvr.grpc.agv_command_sink@1",
+            kind=PluginKind.SINK,
+            factory=CmvrAgvCommandSink,
+            inputs={"commands": "ApprovedRobotCommand/v1"},
+            description="Typed, non-retrying cmvr-es AGV command sink",
+            tags=frozenset({"actuator", "transport:grpc"}),
+        )
+    )
+    registry.register(
+        PluginSpec(
+            plugin_id="platform.http_json_sink@1",
+            kind=PluginKind.SINK,
+            factory=PlatformHttpJsonSink,
+            inputs={"input": "*"},
+            description="POST protocol-neutral envelopes as JSON",
+            tags=frozenset({"telemetry", "transport:http"}),
+        )
+    )
+
+
+__all__ = ["register_connector_plugins"]
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diff --git a/src/cmvr_edge_ai/connectors/_context.py b/src/cmvr_edge_ai/connectors/_context.py
new file mode 100644
index 0000000..81c2c40
--- /dev/null
+++ b/src/cmvr_edge_ai/connectors/_context.py
@@ -0,0 +1,94 @@
+"""Helpers for resolving named endpoints from component context."""
+
+from __future__ import annotations
+
+from collections.abc import Mapping
+from pathlib import Path
+from typing import Any
+
+from cmvr_edge_ai.core.component import ComponentContext
+from cmvr_edge_ai.transports.grpc import GrpcChannelSettings
+from cmvr_edge_ai.transports.http import HttpClientSettings
+
+
+class ConnectorConfigurationError(ValueError):
+    pass
+
+
+def resolve_endpoint(context: ComponentContext, endpoint_id: str) -> Any:
+    endpoints = context.metadata.get("endpoints")
+    if not isinstance(endpoints, Mapping):
+        raise ConnectorConfigurationError(
+            "component context does not contain a named endpoints mapping"
+        )
+    try:
+        return endpoints[endpoint_id]
+    except KeyError as exc:
+        raise ConnectorConfigurationError(
+            f"unknown endpoint referenced by connector: {endpoint_id}"
+        ) from exc
+
+
+def endpoint_value(endpoint: Any, name: str, default: Any = None) -> Any:
+    if isinstance(endpoint, Mapping):
+        return endpoint.get(name, default)
+    return getattr(endpoint, name, default)
+
+
+def grpc_channel_settings(endpoint: Any) -> GrpcChannelSettings:
+    target = endpoint_value(endpoint, "target")
+    if not target:
+        raise ConnectorConfigurationError("gRPC endpoint requires target")
+    options = endpoint_value(endpoint, "options", {}) or {}
+    if not isinstance(options, Mapping):
+        raise ConnectorConfigurationError("gRPC endpoint options must be a mapping")
+
+    channel_options: list[tuple[str, int | str]] = []
+    configured_options = options.get("channel_options", {})
+    if isinstance(configured_options, Mapping):
+        channel_options.extend(
+            (str(key), value) for key, value in configured_options.items()
+        )
+    max_receive_mb = options.get("max_receive_mb")
+    if max_receive_mb is not None:
+        channel_options.append(
+            (
+                "grpc.max_receive_message_length",
+                int(float(max_receive_mb) * 1024 * 1024),
+            )
+        )
+    max_send_mb = options.get("max_send_mb")
+    if max_send_mb is not None:
+        channel_options.append(
+            ("grpc.max_send_message_length", int(float(max_send_mb) * 1024 * 1024))
+        )
+
+    root_certificates = options.get("root_certificates")
+    return GrpcChannelSettings(
+        target=str(target),
+        tls=bool(endpoint_value(endpoint, "tls", False)),
+        root_certificates=(Path(root_certificates) if root_certificates else None),
+        options=tuple(channel_options),
+    )
+
+
+def http_client_settings(endpoint: Any) -> HttpClientSettings:
+    base_url = endpoint_value(endpoint, "base_url")
+    if not base_url:
+        raise ConnectorConfigurationError("HTTP endpoint requires base_url")
+    metadata = endpoint_value(endpoint, "metadata", {}) or {}
+    options = endpoint_value(endpoint, "options", {}) or {}
+    if not isinstance(options, Mapping):
+        raise ConnectorConfigurationError("HTTP endpoint options must be a mapping")
+    verify_tls = options.get("verify_tls", True)
+    if not isinstance(verify_tls, bool):
+        raise ConnectorConfigurationError("HTTP options.verify_tls must be boolean")
+    return HttpClientSettings(
+        base_url=str(base_url),
+        timeout_s=float(endpoint_value(endpoint, "timeout_s", 5.0)),
+        headers=tuple((str(key), str(value)) for key, value in metadata.items()),
+        # HTTPS verification is secure by default.  The generic ``tls`` flag is
+        # used by gRPC channel construction and must never silently disable
+        # certificate verification for an https:// URL.
+        verify_tls=verify_tls,
+    )
diff --git a/src/cmvr_edge_ai/connectors/cmvr_es/__init__.py b/src/cmvr_edge_ai/connectors/cmvr_es/__init__.py
new file mode 100644
index 0000000..1114b1f
--- /dev/null
+++ b/src/cmvr_edge_ai/connectors/cmvr_es/__init__.py
@@ -0,0 +1,13 @@
+"""Semantic adapters for cmvr-es services."""
+
+from .agv import CmvrAgvCommandSink
+from .camera import CmvrCameraRgbStreamSource
+from .errors import CmvrApiPackageError, CmvrConnectorError, CmvrServiceError
+
+__all__ = [
+    "CmvrApiPackageError",
+    "CmvrAgvCommandSink",
+    "CmvrCameraRgbStreamSource",
+    "CmvrConnectorError",
+    "CmvrServiceError",
+]
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diff --git a/src/cmvr_edge_ai/connectors/cmvr_es/agv.py b/src/cmvr_edge_ai/connectors/cmvr_es/agv.py
new file mode 100644
index 0000000..c2f82ba
--- /dev/null
+++ b/src/cmvr_edge_ai/connectors/cmvr_es/agv.py
@@ -0,0 +1,230 @@
+"""Typed, non-retrying AGV command sink for cmvr-es."""
+
+from __future__ import annotations
+
+import logging
+import math
+from collections.abc import Mapping
+from importlib import import_module
+from time import time_ns
+from typing import Any
+
+from cmvr_edge_ai.contracts import ApprovedRobotCommand
+from cmvr_edge_ai.core.component import ComponentContext, Sink
+from cmvr_edge_ai.core.envelope import Envelope
+from cmvr_edge_ai.transports.grpc import GrpcChannelPool
+
+from .._context import endpoint_value, grpc_channel_settings, resolve_endpoint
+from .errors import CmvrApiPackageError, CmvrServiceError
+
+
+class CmvrAgvCommandSink(Sink):
+    """Map an allowlisted ``RobotCommand`` to explicit AgvService methods.
+
+    The sink deliberately has no generic method-name dispatch and performs no
+    automatic retry.  Motion-command retry requires an idempotency contract
+    that the current cmvr-es API does not provide.
+    """
+
+    _DIRECT_ACTIONS = {
+        "emergency_stop": "emergencyStop",
+        "clear_fault": "clearFault",
+        "pause_navigation": "pauseNavigation",
+        "resume_navigation": "resumeNavigation",
+        "cancel_navigation": "cancelNavigation",
+        "stop_velocity_control": "stopVelocityControl",
+        "stop_mapping": "stopMapping",
+    }
+
+    def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
+        self._node_id = node_id
+        self._endpoint_id = str(params.get("endpoint", "cmvr_es"))
+        configured_device = params.get("device_id")
+        if not isinstance(configured_device, str) or not configured_device.strip():
+            raise ValueError("AGV command sink requires a fixed, non-empty device_id")
+        self._device_id = configured_device.strip()
+        self._timeout_s: float | None = None
+        self._unsafe_allow_unleased_velocity = _strict_bool(
+            params,
+            "unsafe_allow_unleased_velocity",
+            default=False,
+        )
+        self._velocity_limits = _parse_velocity_limits(params.get("velocity_limits"))
+        if self._unsafe_allow_unleased_velocity and self._velocity_limits is None:
+            raise ValueError(
+                "unsafe_allow_unleased_velocity requires explicit velocity_limits"
+            )
+        self._velocity_active = False
+        self._logger = logging.getLogger(__name__)
+        self._stub: Any = None
+        self._common_pb2: Any = None
+        self._agv_command_pb2: Any = None
+        self._agv_pb2: Any = None
+
+    async def setup(self, context: ComponentContext) -> None:
+        endpoint = resolve_endpoint(context, self._endpoint_id)
+        pool = context.metadata.get("grpc_channel_pool")
+        if not isinstance(pool, GrpcChannelPool):
+            raise TypeError("component context is missing GrpcChannelPool")
+        channel = await pool.get(self._endpoint_id, grpc_channel_settings(endpoint))
+        self._timeout_s = float(endpoint_value(endpoint, "timeout_s", 5.0))
+        try:
+            self._common_pb2 = import_module("cmvr.api.common_pb2")
+            self._agv_command_pb2 = import_module("cmvr.api.agv_command_pb2")
+            self._agv_pb2 = import_module("cmvr.msgs.agv_pb2")
+            service = import_module("cmvr.api.agv_service_pb2_grpc")
+        except ImportError as exc:
+            raise CmvrApiPackageError(
+                "cmvr Python API bindings are missing; run "
+                "scripts/generate_cmvr_stubs.py or install the cmvr-api wheel"
+            ) from exc
+        self._stub = service.AgvServiceStub(channel)
+
+    async def consume(
+        self, envelope: Envelope[Any], input_port: str = "commands"
+    ) -> None:
+        del input_port
+        approved = envelope.payload
+        if not isinstance(approved, ApprovedRobotCommand):
+            raise TypeError(
+                f"{self._node_id} expected ApprovedRobotCommand, "
+                f"got {type(approved).__name__}"
+            )
+        command = approved.command
+        if envelope.is_expired() or command.valid_until_ns <= time_ns():
+            return
+        if command.device_id != self._device_id:
+            raise PermissionError(
+                f"command targets {command.device_id!r}, sink is bound to "
+                f"{self._device_id!r}"
+            )
+        if self._stub is None:
+            raise RuntimeError("AGV sink has not been set up")
+
+        remaining_s = (command.valid_until_ns - time_ns()) / 1_000_000_000
+        if remaining_s <= 0:
+            return
+        rpc_timeout = min(self._timeout_s or remaining_s, remaining_s)
+
+        if command.action in self._DIRECT_ACTIONS:
+            request = self._command_header()
+            rpc = getattr(self._stub, self._DIRECT_ACTIONS[command.action])
+        elif command.action == "set_velocity":
+            if not self._unsafe_allow_unleased_velocity:
+                raise PermissionError(
+                    "set_velocity is disabled until cmvr-es enforces a server-side "
+                    "lease; unsafe override must be explicit"
+                )
+            assert self._velocity_limits is not None
+            vx = _bounded_number(command.arguments, "vx", self._velocity_limits)
+            vy = _bounded_number(command.arguments, "vy", self._velocity_limits)
+            wz = _bounded_number(command.arguments, "wz", self._velocity_limits)
+            request = self._agv_command_pb2.AgvSetVelocityCommand.Request(
+                header=self._command_header(),
+                velocity=self._agv_pb2.AgvVelocity(vx=vx, vy=vy, wz=wz),
+            )
+            rpc = self._stub.setVelocity
+        else:
+            raise PermissionError(f"unsupported AGV action: {command.action}")
+
+        response = await rpc(request, timeout=rpc_timeout)
+        feedback = getattr(response, "header", response)
+        if not feedback.success:
+            raise CmvrServiceError(
+                feedback.error_message
+                or f"cmvr-es rejected AGV action {command.action!r}"
+            )
+        if command.action == "set_velocity":
+            self._velocity_active = True
+        elif command.action in {"stop_velocity_control", "emergency_stop"}:
+            self._velocity_active = False
+
+    async def stop(self) -> None:
+        if not self._velocity_active or self._stub is None:
+            return
+        try:
+            request = self._command_header()
+            response = await self._stub.stopVelocityControl(
+                request, timeout=self._timeout_s
+            )
+            feedback = getattr(response, "header", response)
+            if not feedback.success:
+                self._logger.error(
+                    "cmvr-es rejected stopVelocityControl during sink shutdown: %s",
+                    feedback.error_message,
+                )
+        except Exception:
+            self._logger.exception(
+                "failed to stop AGV velocity during sink shutdown; "
+                "server-side lease is required for crash safety"
+            )
+        finally:
+            self._velocity_active = False
+
+    def _command_header(self) -> Any:
+        header = self._common_pb2.CommandHeader.Request(device_id=self._device_id)
+        # The current cmvr-es API has no valid-until/lease field.  Sending the
+        # request time is useful for diagnostics but is not a server-side lease.
+        header.timestamp.GetCurrentTime()
+        return header
+
+
+def _bounded_number(
+    arguments: Mapping[str, Any],
+    name: str,
+    limits: Mapping[str, tuple[float, float]],
+) -> float:
+    if name not in arguments:
+        raise ValueError(f"set_velocity requires argument {name!r}")
+    value = float(arguments[name])
+    if not math.isfinite(value):
+        raise ValueError(f"set_velocity argument {name!r} must be finite")
+    minimum, maximum = limits[name]
+    if not minimum <= value <= maximum:
+        raise PermissionError(
+            f"set_velocity argument {name!r}={value!r} is outside "
+            f"[{minimum}, {maximum}]"
+        )
+    return value
+
+
+def _parse_velocity_limits(
+    value: Any,
+) -> dict[str, tuple[float, float]] | None:
+    if value is None:
+        return None
+    if not isinstance(value, Mapping):
+        raise ValueError("velocity_limits must be a mapping")
+    missing = {"vx", "vy", "wz"} - set(value)
+    if missing:
+        raise ValueError(
+            "velocity_limits must define vx, vy and wz; missing: "
+            + ", ".join(sorted(missing))
+        )
+    parsed: dict[str, tuple[float, float]] = {}
+    for name in ("vx", "vy", "wz"):
+        bounds = value[name]
+        if (
+            not isinstance(bounds, Mapping)
+            or "min" not in bounds
+            or "max" not in bounds
+        ):
+            raise ValueError(f"velocity_limits.{name} requires min and max")
+        minimum = float(bounds["min"])
+        maximum = float(bounds["max"])
+        if not math.isfinite(minimum) or not math.isfinite(maximum):
+            raise ValueError("velocity limits must be finite")
+        if minimum > maximum:
+            raise ValueError(f"velocity_limits.{name} min exceeds max")
+        parsed[name] = (minimum, maximum)
+    return parsed
+
+
+def _strict_bool(params: Mapping[str, Any], name: str, *, default: bool) -> bool:
+    value = params.get(name, default)
+    if type(value) is not bool:
+        raise ValueError(f"{name} must be a boolean, not {value!r}")
+    return value
+
+
+__all__ = ["CmvrAgvCommandSink"]
diff --git a/src/cmvr_edge_ai/connectors/cmvr_es/camera.py b/src/cmvr_edge_ai/connectors/cmvr_es/camera.py
new file mode 100644
index 0000000..7c5c084
--- /dev/null
+++ b/src/cmvr_edge_ai/connectors/cmvr_es/camera.py
@@ -0,0 +1,591 @@
+"""Typed adapter for the current cmvr-es RGB camera stream."""
+
+from __future__ import annotations
+
+import asyncio
+import logging
+import math
+from collections.abc import Mapping
+from dataclasses import dataclass
+from importlib import import_module
+from time import monotonic_ns, perf_counter
+from typing import Any
+from uuid import uuid4
+
+from cmvr_edge_ai.contracts import CameraIntrinsics, ImageFrame
+from cmvr_edge_ai.core.component import ComponentContext, Emission, Source
+from cmvr_edge_ai.core.envelope import Envelope
+from cmvr_edge_ai.transports.grpc import GrpcChannelPool
+
+from .._context import endpoint_value, grpc_channel_settings, resolve_endpoint
+from .errors import CmvrApiPackageError, CmvrServiceError
+
+
+_LOGGER = logging.getLogger(__name__)
+
+
+@dataclass(slots=True)
+class _StreamStats:
+    session_id: str
+    opened_ns: int
+    window_started_ns: int
+    frames: int = 0
+    received_bytes: int = 0
+    key_frames: int = 0
+    window_frames: int = 0
+    window_bytes: int = 0
+    window_key_frames: int = 0
+    last_frame_ns: int | None = None
+    last_remote_sequence: int | None = None
+    codec: str = "unknown"
+    width: int = 0
+    height: int = 0
+
+
+class CmvrCameraRgbStreamSource(Source):
+    """Start a cmvr-es camera and subscribe to ``GetRGBImageStream``.
+
+    cmvr-es currently reads one subscription request and then streams until the
+    client cancels.  The request side remains open until shutdown so this
+    adapter also remains compatible with a future true bidirectional contract.
+    Every initial/reconnect session calls ``StartCamera`` first because the
+    stream RPC starts encoding but does not open the physical camera.
+    """
+
+    def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
+        allowed_params = {
+            "endpoint",
+            "device_id",
+            "pixel_format",
+            "reconnect",
+            "reconnect_initial_s",
+            "reconnect_max_s",
+            "max_reconnect_attempts",
+            "stream_log_interval_s",
+        }
+        unknown = set(params) - allowed_params
+        if unknown:
+            raise ValueError(
+                "unknown camera source parameter(s): "
+                + ", ".join(sorted(str(value) for value in unknown))
+            )
+        self._node_id = node_id
+        self._endpoint_id = str(params.get("endpoint", "cmvr_es"))
+        device_id = params.get("device_id")
+        if not isinstance(device_id, str) or not device_id.strip():
+            raise ValueError("camera source requires a non-empty device_id")
+        pixel_format = params.get("pixel_format", "BGR8")
+        if not isinstance(pixel_format, str) or not pixel_format.strip():
+            raise ValueError("pixel_format must be a non-empty string")
+        self._device_id = device_id.strip()
+        self._pixel_format = pixel_format.strip()
+        self._reconnect = _strict_bool(params, "reconnect", default=True)
+        self._reconnect_initial_s = _positive_float(
+            params, "reconnect_initial_s", default=0.5
+        )
+        self._reconnect_max_s = _positive_float(params, "reconnect_max_s", default=10.0)
+        if self._reconnect_max_s < self._reconnect_initial_s:
+            raise ValueError("reconnect_max_s must be >= reconnect_initial_s")
+        max_attempts = params.get("max_reconnect_attempts")
+        if max_attempts is None:
+            self._max_reconnect_attempts: int | None = None
+        elif isinstance(max_attempts, bool) or not isinstance(max_attempts, int):
+            raise ValueError("max_reconnect_attempts must be an integer or null")
+        elif max_attempts < 0:
+            raise ValueError("max_reconnect_attempts must not be negative")
+        else:
+            self._max_reconnect_attempts = max_attempts
+        self._stream_log_interval_s = _positive_float(
+            params,
+            "stream_log_interval_s",
+            default=30.0,
+        )
+        self._pool: GrpcChannelPool | None = None
+        self._stub: Any = None
+        self._start_request: Any = None
+        self._stream_request: Any = None
+        self._call: Any = None
+        self._shutdown_event: asyncio.Event | None = None
+        self._rpc_timeout_s: float | None = None
+        self._active_session_id: str | None = None
+        self._total_frames = 0
+        self._total_bytes = 0
+        self._stopped = False
+
+    async def setup(self, context: ComponentContext) -> None:
+        endpoint = resolve_endpoint(context, self._endpoint_id)
+        pool = context.metadata.get("grpc_channel_pool")
+        if not isinstance(pool, GrpcChannelPool):
+            raise TypeError("component context is missing GrpcChannelPool")
+        self._pool = pool
+        channel = await pool.get(self._endpoint_id, grpc_channel_settings(endpoint))
+        self._shutdown_event = context.shutdown_event
+        self._rpc_timeout_s = float(endpoint_value(endpoint, "timeout_s", 5.0))
+
+        try:
+            common_pb2 = import_module("cmvr.api.common_pb2")
+            camera_command_pb2 = import_module("cmvr.api.camera_command_pb2")
+            camera_service_pb2_grpc = import_module("cmvr.api.camera_service_pb2_grpc")
+        except ImportError as exc:
+            raise CmvrApiPackageError(
+                "cmvr Python API bindings are missing; run "
+                "scripts/generate_cmvr_stubs.py or install the cmvr-api wheel"
+            ) from exc
+
+        start_header = common_pb2.CommandHeader.Request(device_id=self._device_id)
+        stream_header = common_pb2.CommandHeader.Request(device_id=self._device_id)
+        self._start_request = camera_command_pb2.StartCameraCommand.Request(
+            header=start_header
+        )
+        self._stream_request = camera_command_pb2.GetRGBImageStreamCommand.Request(
+            header=stream_header
+        )
+        self._stub = camera_service_pb2_grpc.CameraServiceStub(channel)
+        _LOGGER.info(
+            "camera source configured node=%s endpoint=%s device=%s "
+            "rpc_timeout_s=%.3f reconnect=%s reconnect_initial_s=%.3f "
+            "reconnect_max_s=%.3f stream_log_interval_s=%.3f",
+            self._node_id,
+            self._endpoint_id,
+            self._device_id,
+            self._rpc_timeout_s,
+            self._reconnect,
+            self._reconnect_initial_s,
+            self._reconnect_max_s,
+            self._stream_log_interval_s,
+        )
+
+    async def messages(self):  # type: ignore[no-untyped-def]
+        if (
+            self._stub is None
+            or self._start_request is None
+            or self._stream_request is None
+            or self._shutdown_event is None
+            or self._rpc_timeout_s is None
+        ):
+            raise RuntimeError("camera source has not been set up")
+        shutdown_event = self._shutdown_event
+        reconnect_attempts = 0
+        reconnect_delay_s = self._reconnect_initial_s
+        local_sequence = 0
+
+        while not shutdown_event.is_set():
+            stream_session_id = uuid4().hex
+            self._active_session_id = stream_session_id
+            stats: _StreamStats | None = None
+            progress_task: asyncio.Task[None] | None = None
+
+            async def subscription_requests():  # type: ignore[no-untyped-def]
+                yield self._stream_request
+                await shutdown_event.wait()
+
+            try:
+                await self._start_camera(
+                    stream_session_id,
+                    reconnect_attempt=reconnect_attempts,
+                )
+                opened_ns = monotonic_ns()
+                stats = _StreamStats(
+                    session_id=stream_session_id,
+                    opened_ns=opened_ns,
+                    window_started_ns=opened_ns,
+                )
+                _LOGGER.info(
+                    "camera stream opening node=%s endpoint=%s device=%s "
+                    "session=%s reconnect_attempt=%s waiting_for_first_frame=true",
+                    self._node_id,
+                    self._endpoint_id,
+                    self._device_id,
+                    stream_session_id,
+                    reconnect_attempts,
+                )
+                self._call = self._stub.GetRGBImageStream(subscription_requests())
+                progress_task = asyncio.create_task(
+                    self._log_stream_progress(stats, shutdown_event),
+                    name=f"{self._node_id}:camera-stream-progress",
+                )
+                received_in_session = False
+                async for response in self._call:
+                    if shutdown_event.is_set():
+                        return
+                    if not response.header.success:
+                        _LOGGER.warning(
+                            "camera stream feedback error node=%s endpoint=%s "
+                            "device=%s session=%s error=%s",
+                            self._node_id,
+                            self._endpoint_id,
+                            self._device_id,
+                            stream_session_id,
+                            response.header.error_message
+                            or "cmvr-es camera stream failed",
+                        )
+                        raise CmvrServiceError(
+                            response.header.error_message
+                            or "cmvr-es camera stream failed"
+                        )
+                    frame = response.color_frame
+                    intrinsics = response.intrinsics
+                    frame_data = bytes(frame.data)
+                    frame_received_ns = monotonic_ns()
+                    remote_sequence = int(response.seq_no)
+                    stats.frames += 1
+                    stats.received_bytes += len(frame_data)
+                    stats.key_frames += int(bool(frame.is_key_frame))
+                    stats.window_frames += 1
+                    stats.window_bytes += len(frame_data)
+                    stats.window_key_frames += int(bool(frame.is_key_frame))
+                    stats.last_frame_ns = frame_received_ns
+                    stats.last_remote_sequence = remote_sequence
+                    stats.codec = frame.codec or "none"
+                    stats.width = int(frame.width)
+                    stats.height = int(frame.height)
+                    self._total_frames += 1
+                    self._total_bytes += len(frame_data)
+                    if not received_in_session:
+                        _LOGGER.info(
+                            "camera stream first frame node=%s endpoint=%s device=%s "
+                            "session=%s reconnect_attempt=%s time_to_first_frame_ms=%.2f "
+                            "remote_sequence=%s codec=%s width=%s height=%s bytes=%s "
+                            "key_frame=%s",
+                            self._node_id,
+                            self._endpoint_id,
+                            self._device_id,
+                            stream_session_id,
+                            reconnect_attempts,
+                            (frame_received_ns - opened_ns) / 1_000_000,
+                            remote_sequence,
+                            stats.codec,
+                            stats.width,
+                            stats.height,
+                            len(frame_data),
+                            bool(frame.is_key_frame),
+                        )
+                    received_in_session = True
+                    reconnect_attempts = 0
+                    reconnect_delay_s = self._reconnect_initial_s
+                    captured_at_ns = _protobuf_timestamp_ns(response.header.timestamp)
+                    payload = ImageFrame(
+                        data=frame_data,
+                        width=stats.width,
+                        height=stats.height,
+                        pixel_format=self._pixel_format,
+                        codec=stats.codec,
+                        is_key_frame=bool(frame.is_key_frame),
+                        intrinsics=CameraIntrinsics(
+                            fx=float(intrinsics.fx),
+                            fy=float(intrinsics.fy),
+                            cx=float(intrinsics.cx),
+                            cy=float(intrinsics.cy),
+                            coefficients=tuple(
+                                float(value) for value in intrinsics.coeffs
+                            ),
+                        ),
+                    )
+                    sequence = local_sequence
+                    local_sequence += 1
+                    yield Emission(
+                        "frames",
+                        Envelope(
+                            payload=payload,
+                            schema_name="ImageFrame",
+                            schema_version=1,
+                            source_id=self._device_id,
+                            sequence=sequence,
+                            captured_at_ns=captured_at_ns,
+                            session_id=stream_session_id,
+                            attributes={
+                                "transport": "grpc",
+                                "endpoint": self._endpoint_id,
+                                "remote_sequence": remote_sequence,
+                                "stream_session_id": stream_session_id,
+                            },
+                        ),
+                    )
+                if shutdown_event.is_set():
+                    return
+                detail = (
+                    "cmvr-es camera stream ended"
+                    if received_in_session
+                    else "cmvr-es camera stream ended before the first frame"
+                )
+                raise CmvrServiceError(detail)
+            except asyncio.CancelledError:
+                _LOGGER.info(
+                    "camera stream cancelled node=%s endpoint=%s device=%s "
+                    "session=%s session_frames=%s",
+                    self._node_id,
+                    self._endpoint_id,
+                    self._device_id,
+                    stream_session_id,
+                    stats.frames if stats is not None else 0,
+                )
+                raise
+            except Exception as exc:
+                if shutdown_event.is_set():
+                    return
+                if not self._reconnect:
+                    _LOGGER.error(
+                        "camera stream failed node=%s endpoint=%s device=%s "
+                        "session=%s reconnect=false error_type=%s error=%s",
+                        self._node_id,
+                        self._endpoint_id,
+                        self._device_id,
+                        stream_session_id,
+                        type(exc).__name__,
+                        exc,
+                    )
+                    raise
+                reconnect_attempts += 1
+                if (
+                    self._max_reconnect_attempts is not None
+                    and reconnect_attempts > self._max_reconnect_attempts
+                ):
+                    _LOGGER.error(
+                        "camera stream reconnect exhausted node=%s endpoint=%s "
+                        "device=%s session=%s attempts=%s error_type=%s error=%s",
+                        self._node_id,
+                        self._endpoint_id,
+                        self._device_id,
+                        stream_session_id,
+                        reconnect_attempts,
+                        type(exc).__name__,
+                        exc,
+                    )
+                    raise CmvrServiceError(
+                        "cmvr-es camera stream exceeded max_reconnect_attempts"
+                    ) from exc
+                _LOGGER.warning(
+                    "camera stream disconnected node=%s endpoint=%s device=%s "
+                    "session=%s session_frames=%s attempt=%s retry_in_s=%.3f "
+                    "error_type=%s error=%s",
+                    self._node_id,
+                    self._endpoint_id,
+                    self._device_id,
+                    stream_session_id,
+                    stats.frames if stats is not None else 0,
+                    reconnect_attempts,
+                    reconnect_delay_s,
+                    type(exc).__name__,
+                    exc,
+                )
+                try:
+                    await asyncio.wait_for(
+                        shutdown_event.wait(), timeout=reconnect_delay_s
+                    )
+                    return
+                except TimeoutError:
+                    reconnect_delay_s = min(
+                        self._reconnect_max_s, reconnect_delay_s * 2.0
+                    )
+            finally:
+                if progress_task is not None:
+                    progress_task.cancel()
+                    await asyncio.gather(progress_task, return_exceptions=True)
+                if self._call is not None:
+                    self._call.cancel()
+                    self._call = None
+                if stats is not None:
+                    closed_ns = monotonic_ns()
+                    _LOGGER.info(
+                        "camera stream closed node=%s endpoint=%s device=%s "
+                        "session=%s session_frames=%s session_bytes=%s "
+                        "uptime_s=%.3f first_frame_received=%s",
+                        self._node_id,
+                        self._endpoint_id,
+                        self._device_id,
+                        stream_session_id,
+                        stats.frames,
+                        stats.received_bytes,
+                        max(0.0, (closed_ns - stats.opened_ns) / 1_000_000_000),
+                        stats.frames > 0,
+                    )
+                self._active_session_id = None
+
+    async def stop(self) -> None:
+        if self._stopped:
+            return
+        self._stopped = True
+        _LOGGER.info(
+            "camera source stopping node=%s endpoint=%s device=%s "
+            "active_session=%s total_frames=%s total_bytes=%s",
+            self._node_id,
+            self._endpoint_id,
+            self._device_id,
+            self._active_session_id or "none",
+            self._total_frames,
+            self._total_bytes,
+        )
+        if self._call is not None:
+            self._call.cancel()
+            self._call = None
+        _LOGGER.info(
+            "camera source stopped node=%s endpoint=%s device=%s "
+            "total_frames=%s total_bytes=%s remote_camera_stopped=false",
+            self._node_id,
+            self._endpoint_id,
+            self._device_id,
+            self._total_frames,
+            self._total_bytes,
+        )
+
+    async def _start_camera(
+        self,
+        session_id: str,
+        *,
+        reconnect_attempt: int,
+    ) -> None:
+        assert self._stub is not None
+        assert self._start_request is not None
+        assert self._rpc_timeout_s is not None
+        reason = (
+            "initial"
+            if self._total_frames == 0 and reconnect_attempt == 0
+            else "reconnect"
+        )
+        _LOGGER.info(
+            "camera start requested node=%s endpoint=%s device=%s session=%s "
+            "reason=%s reconnect_attempt=%s timeout_s=%.3f",
+            self._node_id,
+            self._endpoint_id,
+            self._device_id,
+            session_id,
+            reason,
+            reconnect_attempt,
+            self._rpc_timeout_s,
+        )
+        started = perf_counter()
+        try:
+            response = await self._stub.StartCamera(
+                self._start_request,
+                timeout=self._rpc_timeout_s,
+            )
+        except asyncio.CancelledError:
+            raise
+        except Exception as exc:
+            _LOGGER.warning(
+                "camera start failed node=%s endpoint=%s device=%s session=%s "
+                "reason=%s error_type=%s error=%s",
+                self._node_id,
+                self._endpoint_id,
+                self._device_id,
+                session_id,
+                reason,
+                type(exc).__name__,
+                exc,
+            )
+            raise
+
+        feedback = getattr(response, "header", response)
+        if not bool(getattr(feedback, "success", False)):
+            detail = (
+                getattr(feedback, "error_message", "")
+                or "cmvr-es rejected StartCamera"
+            )
+            _LOGGER.warning(
+                "camera start failed node=%s endpoint=%s device=%s session=%s "
+                "reason=%s error_type=CmvrServiceError error=%s",
+                self._node_id,
+                self._endpoint_id,
+                self._device_id,
+                session_id,
+                reason,
+                detail,
+            )
+            raise CmvrServiceError(detail)
+
+        _LOGGER.info(
+            "camera start succeeded node=%s endpoint=%s device=%s session=%s "
+            "reason=%s elapsed_ms=%.2f",
+            self._node_id,
+            self._endpoint_id,
+            self._device_id,
+            session_id,
+            reason,
+            (perf_counter() - started) * 1000.0,
+        )
+
+    async def _log_stream_progress(
+        self,
+        stats: _StreamStats,
+        shutdown_event: asyncio.Event,
+    ) -> None:
+        while not shutdown_event.is_set():
+            try:
+                await asyncio.wait_for(
+                    shutdown_event.wait(),
+                    timeout=self._stream_log_interval_s,
+                )
+                return
+            except TimeoutError:
+                now_ns = monotonic_ns()
+                window_s = max(
+                    (now_ns - stats.window_started_ns) / 1_000_000_000,
+                    1e-9,
+                )
+                last_frame_age_s = (
+                    -1.0
+                    if stats.last_frame_ns is None
+                    else max(0.0, (now_ns - stats.last_frame_ns) / 1_000_000_000)
+                )
+                _LOGGER.info(
+                    "camera stream progress node=%s endpoint=%s device=%s "
+                    "session=%s first_frame_received=%s total_frames=%s "
+                    "window_frames=%s window_fps=%.2f window_bytes=%s "
+                    "bitrate_kbps=%.2f window_key_frames=%s last_remote_sequence=%s "
+                    "codec=%s width=%s height=%s last_frame_age_s=%.3f",
+                    self._node_id,
+                    self._endpoint_id,
+                    self._device_id,
+                    stats.session_id,
+                    stats.frames > 0,
+                    stats.frames,
+                    stats.window_frames,
+                    stats.window_frames / window_s,
+                    stats.window_bytes,
+                    stats.window_bytes * 8.0 / window_s / 1000.0,
+                    stats.window_key_frames,
+                    (
+                        stats.last_remote_sequence
+                        if stats.last_remote_sequence is not None
+                        else "none"
+                    ),
+                    stats.codec,
+                    stats.width,
+                    stats.height,
+                    last_frame_age_s,
+                )
+                stats.window_frames = 0
+                stats.window_bytes = 0
+                stats.window_key_frames = 0
+                stats.window_started_ns = now_ns
+
+
+def _protobuf_timestamp_ns(timestamp: Any) -> int | None:
+    seconds = int(getattr(timestamp, "seconds", 0))
+    nanos = int(getattr(timestamp, "nanos", 0))
+    if seconds == 0 and nanos == 0:
+        return None
+    return seconds * 1_000_000_000 + nanos
+
+
+def _strict_bool(params: Mapping[str, Any], name: str, *, default: bool) -> bool:
+    value = params.get(name, default)
+    if type(value) is not bool:
+        raise ValueError(f"{name} must be a boolean")
+    return value
+
+
+def _positive_float(params: Mapping[str, Any], name: str, *, default: float) -> float:
+    value = params.get(name, default)
+    if isinstance(value, bool):
+        raise ValueError(f"{name} must be a positive number")
+    try:
+        parsed = float(value)
+    except (TypeError, ValueError) as exc:
+        raise ValueError(f"{name} must be a positive number") from exc
+    if not math.isfinite(parsed) or parsed <= 0:
+        raise ValueError(f"{name} must be a positive number")
+    return parsed
+
+
+__all__ = ["CmvrCameraRgbStreamSource"]
diff --git a/src/cmvr_edge_ai/connectors/cmvr_es/errors.py b/src/cmvr_edge_ai/connectors/cmvr_es/errors.py
new file mode 100644
index 0000000..0ea0b2a
--- /dev/null
+++ b/src/cmvr_edge_ai/connectors/cmvr_es/errors.py
@@ -0,0 +1,13 @@
+"""Errors raised by cmvr-es semantic connectors."""
+
+
+class CmvrConnectorError(RuntimeError):
+    pass
+
+
+class CmvrApiPackageError(CmvrConnectorError):
+    pass
+
+
+class CmvrServiceError(CmvrConnectorError):
+    pass
diff --git a/src/cmvr_edge_ai/connectors/platform/__init__.py b/src/cmvr_edge_ai/connectors/platform/__init__.py
new file mode 100644
index 0000000..a081112
--- /dev/null
+++ b/src/cmvr_edge_ai/connectors/platform/__init__.py
@@ -0,0 +1,5 @@
+"""Northbound platform connectors."""
+
+from .http_json import PlatformHttpJsonSink
+
+__all__ = ["PlatformHttpJsonSink"]
diff --git a/src/cmvr_edge_ai/connectors/platform/__pycache__/__init__.cpython-310.pyc b/src/cmvr_edge_ai/connectors/platform/__pycache__/__init__.cpython-310.pyc
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diff --git a/src/cmvr_edge_ai/connectors/platform/__pycache__/http_json.cpython-310.pyc b/src/cmvr_edge_ai/connectors/platform/__pycache__/http_json.cpython-310.pyc
new file mode 100644
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diff --git a/src/cmvr_edge_ai/connectors/platform/__pycache__/http_json.cpython-312.pyc b/src/cmvr_edge_ai/connectors/platform/__pycache__/http_json.cpython-312.pyc
new file mode 100644
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diff --git a/src/cmvr_edge_ai/connectors/platform/http_json.py b/src/cmvr_edge_ai/connectors/platform/http_json.py
new file mode 100644
index 0000000..e549d99
--- /dev/null
+++ b/src/cmvr_edge_ai/connectors/platform/http_json.py
@@ -0,0 +1,260 @@
+"""HTTP JSON telemetry sink for northbound platforms."""
+
+from __future__ import annotations
+
+import base64
+import dataclasses
+import logging
+import asyncio
+import math
+from collections.abc import Mapping, Sequence
+from enum import Enum
+from typing import Any
+
+from cmvr_edge_ai.contracts import EncodedImage
+from cmvr_edge_ai.core.component import ComponentContext, Sink
+from cmvr_edge_ai.core.envelope import Envelope
+from cmvr_edge_ai.transports.http import HttpClientPool
+
+from .._context import http_client_settings, resolve_endpoint
+
+
+_LOGGER = logging.getLogger(__name__)
+_DEFAULT_RETRY_STATUSES = frozenset({408, 425, 429, 500, 502, 503, 504})
+
+
+class PlatformHttpJsonSink(Sink):
+    def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
+        allowed_params = {
+            "endpoint",
+            "path",
+            "failure_mode",
+            "max_attempts",
+            "retry_initial_s",
+            "retry_max_s",
+            "retry_statuses",
+        }
+        unknown = set(params) - allowed_params
+        if unknown:
+            raise ValueError(
+                "unknown HTTP sink parameter(s): "
+                + ", ".join(sorted(str(value) for value in unknown))
+            )
+        self._node_id = node_id
+        self._endpoint_id = str(params["endpoint"])
+        path = params.get("path", "/")
+        if not isinstance(path, str) or not path.startswith("/"):
+            raise ValueError("HTTP sink path must be an absolute path starting with /")
+        self._path = path
+        failure_mode = params.get("failure_mode", "raise")
+        if not isinstance(failure_mode, str) or failure_mode not in {
+            "raise",
+            "log_and_drop",
+        }:
+            raise ValueError("failure_mode must be 'raise' or 'log_and_drop'")
+        self._failure_mode = failure_mode
+        self._max_attempts = _positive_int(params, "max_attempts", default=3)
+        self._retry_initial_s = _non_negative_float(
+            params, "retry_initial_s", default=0.25
+        )
+        self._retry_max_s = _non_negative_float(params, "retry_max_s", default=5.0)
+        if self._retry_max_s < self._retry_initial_s:
+            raise ValueError("retry_max_s must be >= retry_initial_s")
+        retry_statuses = params.get("retry_statuses", _DEFAULT_RETRY_STATUSES)
+        if isinstance(retry_statuses, (str, bytes, bytearray, Mapping)):
+            raise ValueError("retry_statuses must be a sequence of HTTP status codes")
+        try:
+            parsed_statuses = frozenset(int(value) for value in retry_statuses)
+        except (TypeError, ValueError) as exc:
+            raise ValueError(
+                "retry_statuses must be a sequence of HTTP status codes"
+            ) from exc
+        if any(status < 100 or status > 599 for status in parsed_statuses):
+            raise ValueError("retry_statuses values must be between 100 and 599")
+        self._retry_statuses = parsed_statuses
+        self._client: Any = None
+
+    async def setup(self, context: ComponentContext) -> None:
+        endpoint = resolve_endpoint(context, self._endpoint_id)
+        pool = context.metadata.get("http_client_pool")
+        if not isinstance(pool, HttpClientPool):
+            raise TypeError("component context is missing HttpClientPool")
+        self._client = await pool.get(self._endpoint_id, http_client_settings(endpoint))
+
+    async def consume(self, envelope: Envelope[Any], input_port: str = "input") -> None:
+        if self._client is None:
+            raise RuntimeError("HTTP sink has not been set up")
+        body = {
+            "schema": envelope.schema,
+            "source_id": envelope.source_id,
+            "sequence": envelope.sequence,
+            "captured_at_ns": envelope.captured_at_ns,
+            "received_at_ns": envelope.received_at_ns,
+            "trace_id": envelope.trace_id,
+            "session_id": envelope.session_id,
+            "input_port": input_port,
+            "payload": _jsonable(envelope.payload),
+            "attributes": _jsonable(envelope.attributes),
+        }
+        idempotency_key = _event_id(envelope.payload) or envelope.trace_id
+        retry_delay_s = self._retry_initial_s
+        for attempt in range(1, self._max_attempts + 1):
+            try:
+                response = await self._client.post(
+                    self._path,
+                    json=body,
+                    headers={"Idempotency-Key": idempotency_key},
+                )
+            except asyncio.CancelledError:
+                raise
+            except Exception as exc:
+                retryable = _retryable_exception(exc)
+                if attempt >= self._max_attempts or not retryable:
+                    if self._failure_mode == "log_and_drop" and retryable:
+                        self._log_dropped_report(
+                            envelope,
+                            input_port=input_port,
+                            attempts=attempt,
+                            error=exc,
+                        )
+                        return
+                    raise
+                _LOGGER.warning(
+                    "HTTP report retry node=%s path=%s attempt=%s/%s error=%s",
+                    self._node_id,
+                    self._path,
+                    attempt,
+                    self._max_attempts,
+                    exc,
+                )
+                await asyncio.sleep(retry_delay_s)
+                retry_delay_s = min(
+                    self._retry_max_s,
+                    max(retry_delay_s * 2.0, self._retry_initial_s),
+                )
+                continue
+
+            if (
+                response.status_code in self._retry_statuses
+                and attempt < self._max_attempts
+            ):
+                _LOGGER.warning(
+                    "HTTP report retry node=%s path=%s status=%s attempt=%s/%s",
+                    self._node_id,
+                    self._path,
+                    response.status_code,
+                    attempt,
+                    self._max_attempts,
+                )
+                await asyncio.sleep(retry_delay_s)
+                retry_delay_s = min(
+                    self._retry_max_s,
+                    max(retry_delay_s * 2.0, self._retry_initial_s),
+                )
+                continue
+            # Status errors outside the explicit retry allowlist are never
+            # retried, even though httpx represents them as HTTP exceptions.
+            try:
+                response.raise_for_status()
+            except asyncio.CancelledError:
+                raise
+            except Exception as exc:
+                if self._failure_mode == "log_and_drop":
+                    self._log_dropped_report(
+                        envelope,
+                        input_port=input_port,
+                        attempts=attempt,
+                        error=exc,
+                        status_code=response.status_code,
+                    )
+                    return
+                raise
+            return
+
+    def _log_dropped_report(
+        self,
+        envelope: Envelope[Any],
+        *,
+        input_port: str,
+        attempts: int,
+        error: Exception,
+        status_code: int | None = None,
+    ) -> None:
+        _LOGGER.warning(
+            "HTTP report dropped node=%s endpoint=%s path=%s input_port=%s "
+            "failure_mode=log_and_drop action=drop attempts=%s status=%s error_type=%s "
+            "error=%s trace_id=%s",
+            self._node_id,
+            self._endpoint_id,
+            self._path,
+            input_port,
+            attempts,
+            status_code if status_code is not None else "none",
+            type(error).__name__,
+            error,
+            envelope.trace_id,
+        )
+
+
+def _jsonable(value: Any) -> Any:
+    if value is None or isinstance(value, (str, int, float, bool)):
+        return value
+    if isinstance(value, EncodedImage):
+        return {
+            "media_type": value.media_type,
+            "width": value.width,
+            "height": value.height,
+            "encoding": "base64",
+            "data": base64.b64encode(value.data).decode("ascii"),
+        }
+    if isinstance(value, bytes):
+        return {"encoding": "base64", "data": base64.b64encode(value).decode("ascii")}
+    if isinstance(value, Enum):
+        return value.value
+    if dataclasses.is_dataclass(value) and not isinstance(value, type):
+        return {
+            field.name: _jsonable(getattr(value, field.name))
+            for field in dataclasses.fields(value)
+            if not field.metadata.get("transient", False)
+        }
+    if isinstance(value, Mapping):
+        return {str(key): _jsonable(item) for key, item in value.items()}
+    if isinstance(value, Sequence) and not isinstance(value, (str, bytes, bytearray)):
+        return [_jsonable(item) for item in value]
+    raise TypeError(f"value is not JSON serializable: {type(value).__name__}")
+
+
+def _event_id(payload: Any) -> str | None:
+    value = getattr(payload, "event_id", None)
+    return value if isinstance(value, str) and value else None
+
+
+def _retryable_exception(exc: Exception) -> bool:
+    return isinstance(exc, (OSError, TimeoutError)) or type(exc).__module__.startswith(
+        "httpx"
+    )
+
+
+def _positive_int(params: Mapping[str, Any], name: str, *, default: int) -> int:
+    value = params.get(name, default)
+    if isinstance(value, bool) or not isinstance(value, int) or value < 1:
+        raise ValueError(f"{name} must be a positive integer")
+    return value
+
+
+def _non_negative_float(
+    params: Mapping[str, Any], name: str, *, default: float
+) -> float:
+    value = params.get(name, default)
+    if isinstance(value, bool):
+        raise ValueError(f"{name} must be a non-negative number")
+    try:
+        parsed = float(value)
+    except (TypeError, ValueError) as exc:
+        raise ValueError(f"{name} must be a non-negative number") from exc
+    if not math.isfinite(parsed) or parsed < 0:
+        raise ValueError(f"{name} must be a non-negative number")
+    return parsed
+
+
+__all__ = ["PlatformHttpJsonSink"]
diff --git a/src/cmvr_edge_ai/contracts/__init__.py b/src/cmvr_edge_ai/contracts/__init__.py
new file mode 100644
index 0000000..6c0c5da
--- /dev/null
+++ b/src/cmvr_edge_ai/contracts/__init__.py
@@ -0,0 +1,27 @@
+"""Stable internal schemas for protocol-independent AI nodes."""
+
+from .control import ApprovedRobotCommand, RobotCommand
+from .events import (
+    BoundingBox,
+    ChatTurn,
+    Detection,
+    DetectionAlert,
+    DetectionResult,
+    TextEvent,
+)
+from .media import AudioChunk, CameraIntrinsics, EncodedImage, ImageFrame
+
+__all__ = [
+    "AudioChunk",
+    "ApprovedRobotCommand",
+    "BoundingBox",
+    "CameraIntrinsics",
+    "ChatTurn",
+    "Detection",
+    "DetectionAlert",
+    "DetectionResult",
+    "EncodedImage",
+    "ImageFrame",
+    "RobotCommand",
+    "TextEvent",
+]
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diff --git a/src/cmvr_edge_ai/contracts/control.py b/src/cmvr_edge_ai/contracts/control.py
new file mode 100644
index 0000000..f4c9971
--- /dev/null
+++ b/src/cmvr_edge_ai/contracts/control.py
@@ -0,0 +1,47 @@
+"""Transport-neutral, expiring robot commands."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+from types import MappingProxyType
+from typing import Any, Mapping
+from uuid import uuid4
+from time import time_ns
+
+
+@dataclass(frozen=True, slots=True)
+class RobotCommand:
+    device_id: str
+    action: str
+    valid_until_ns: int
+    sequence: int
+    arguments: Mapping[str, Any] = field(default_factory=dict)
+    command_id: str = field(default_factory=lambda: str(uuid4()))
+
+    def __post_init__(self) -> None:
+        if not self.device_id:
+            raise ValueError("device_id must not be empty")
+        if not self.action:
+            raise ValueError("action must not be empty")
+        if self.valid_until_ns <= 0:
+            raise ValueError("valid_until_ns must be positive Unix time")
+        if self.sequence < 0:
+            raise ValueError("sequence must not be negative")
+        if not self.command_id:
+            raise ValueError("command_id must not be empty")
+        object.__setattr__(self, "arguments", MappingProxyType(dict(self.arguments)))
+
+
+@dataclass(frozen=True, slots=True)
+class ApprovedRobotCommand:
+    """A command that has passed the trusted safety-gate boundary."""
+
+    command: RobotCommand
+    approved_by: str
+    approved_at_ns: int = field(default_factory=time_ns)
+
+    def __post_init__(self) -> None:
+        if not self.approved_by:
+            raise ValueError("approved_by must not be empty")
+        if self.approved_at_ns <= 0:
+            raise ValueError("approved_at_ns must be positive Unix time")
diff --git a/src/cmvr_edge_ai/contracts/events.py b/src/cmvr_edge_ai/contracts/events.py
new file mode 100644
index 0000000..a0717f8
--- /dev/null
+++ b/src/cmvr_edge_ai/contracts/events.py
@@ -0,0 +1,84 @@
+"""AI result and conversational event contracts."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+from typing import Any
+
+from .media import EncodedImage, ImageFrame
+
+
+@dataclass(frozen=True, slots=True)
+class BoundingBox:
+    x_min: float
+    y_min: float
+    x_max: float
+    y_max: float
+
+
+@dataclass(frozen=True, slots=True)
+class Detection:
+    label: str
+    confidence: float
+    box: BoundingBox
+    track_id: str | None = None
+
+
+@dataclass(frozen=True, slots=True)
+class DetectionResult:
+    detections: tuple[Detection, ...]
+    model_id: str
+    inference_ms: float
+    # Human-readable registration metadata.  It is optional for compatibility
+    # with existing third-party producers of DetectionResult/v1.
+    model_name: str = ""
+    # Internal, zero-copy frame reference for downstream evidence generation.
+    # It must never be serialized by a generic platform connector.
+    source_frame: ImageFrame | None = field(
+        default=None,
+        repr=False,
+        compare=False,
+        metadata={"transient": True},
+    )
+
+
+@dataclass(frozen=True, slots=True)
+class DetectionAlert:
+    """A temporal detection rule that is ready for a downstream interface.
+
+    A DetectionResult describes one inferred frame.  DetectionAlert is emitted
+    only after a stateful rule has observed enough distinct frames inside its
+    configured time window.  Keeping the two contracts separate lets raw
+    detections be recorded or inspected without accidentally calling an alert
+    endpoint for every frame.
+    """
+
+    event_id: str
+    rule_id: str
+    model_id: str
+    model_name: str
+    labels: tuple[str, ...]
+    scope: str
+    scope_id: str
+    hit_count: int
+    window_ms: float
+    first_seen_ns: int
+    last_seen_ns: int
+    triggered_at_ns: int
+    max_confidence: float
+    detections: tuple[Detection, ...]
+    image: EncodedImage | None = None
+
+
+@dataclass(frozen=True, slots=True)
+class TextEvent:
+    text: str
+    role: str = "assistant"
+    final: bool = True
+
+
+@dataclass(frozen=True, slots=True)
+class ChatTurn:
+    session_id: str
+    user_text: str
+    history: tuple[dict[str, Any], ...] = ()
diff --git a/src/cmvr_edge_ai/contracts/media.py b/src/cmvr_edge_ai/contracts/media.py
new file mode 100644
index 0000000..11d6897
--- /dev/null
+++ b/src/cmvr_edge_ai/contracts/media.py
@@ -0,0 +1,75 @@
+"""Protocol-neutral media contracts used inside pipelines."""
+
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+
+
+@dataclass(frozen=True, slots=True)
+class CameraIntrinsics:
+    fx: float
+    fy: float
+    cx: float
+    cy: float
+    coefficients: tuple[float, ...] = ()
+
+
+@dataclass(frozen=True, slots=True)
+class ImageFrame:
+    """An encoded packet or decoded image buffer.
+
+    ``codec`` is ``"none"`` for decoded/raw frames.  Encoded video packets
+    retain key-frame metadata so a stateful decoder can be used downstream.
+    """
+
+    data: bytes
+    width: int
+    height: int
+    pixel_format: str
+    codec: str = "none"
+    is_key_frame: bool = False
+    intrinsics: CameraIntrinsics | None = None
+
+    @property
+    def is_encoded(self) -> bool:
+        return self.codec.lower() not in {"", "none", "raw"}
+
+
+@dataclass(frozen=True, slots=True)
+class EncodedImage:
+    """A compressed image ready to cross a platform boundary."""
+
+    data: bytes = field(repr=False)
+    media_type: str
+    width: int
+    height: int
+
+    def __post_init__(self) -> None:
+        if not isinstance(self.data, bytes) or not self.data:
+            raise ValueError("encoded image data must be non-empty bytes")
+        if not isinstance(self.media_type, str) or not self.media_type.strip():
+            raise ValueError("encoded image media_type must be a non-empty string")
+        if (
+            isinstance(self.width, bool)
+            or not isinstance(self.width, int)
+            or self.width < 1
+        ):
+            raise ValueError("encoded image width must be a positive integer")
+        if (
+            isinstance(self.height, bool)
+            or not isinstance(self.height, int)
+            or self.height < 1
+        ):
+            raise ValueError("encoded image height must be a positive integer")
+
+
+@dataclass(frozen=True, slots=True)
+class AudioChunk:
+    """A contiguous audio chunk independent of its transport protocol."""
+
+    data: bytes
+    sample_rate: int
+    channels: int
+    sample_format: str
+    codec: str = "pcm"
+    discontinuity: bool = False
diff --git a/src/cmvr_edge_ai/core/__init__.py b/src/cmvr_edge_ai/core/__init__.py
new file mode 100644
index 0000000..271cd75
--- /dev/null
+++ b/src/cmvr_edge_ai/core/__init__.py
@@ -0,0 +1,62 @@
+"""Public building blocks for configuration-driven edge AI pipelines."""
+
+from .component import (
+    DEFAULT_INPUT_PORT,
+    DEFAULT_OUTPUT_PORT,
+    Component,
+    ComponentContext,
+    Emission,
+    HealthReport,
+    Operator,
+    OperatorResult,
+    OutputItem,
+    Sink,
+    Source,
+)
+from .edge_queue import (
+    EdgeQueue,
+    EdgeQueueClosed,
+    EdgeQueueError,
+    EdgeQueueFull,
+    OverflowPolicy,
+    PutResult,
+    QueueStats,
+)
+from .envelope import Envelope
+from .runtime import (
+    Edge,
+    GraphValidationError,
+    NodeExecutionError,
+    PipelineRuntime,
+    PipelineRuntimeError,
+    RuntimeState,
+)
+
+
+__all__ = [
+    "Component",
+    "ComponentContext",
+    "DEFAULT_INPUT_PORT",
+    "DEFAULT_OUTPUT_PORT",
+    "Edge",
+    "EdgeQueue",
+    "EdgeQueueClosed",
+    "EdgeQueueError",
+    "EdgeQueueFull",
+    "Emission",
+    "Envelope",
+    "GraphValidationError",
+    "HealthReport",
+    "NodeExecutionError",
+    "Operator",
+    "OperatorResult",
+    "OutputItem",
+    "OverflowPolicy",
+    "PipelineRuntime",
+    "PipelineRuntimeError",
+    "PutResult",
+    "QueueStats",
+    "RuntimeState",
+    "Sink",
+    "Source",
+]
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diff --git a/src/cmvr_edge_ai/core/component.py b/src/cmvr_edge_ai/core/component.py
new file mode 100644
index 0000000..ba90752
--- /dev/null
+++ b/src/cmvr_edge_ai/core/component.py
@@ -0,0 +1,196 @@
+"""Minimal asynchronous component contracts for pipeline nodes."""
+
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+from collections.abc import AsyncIterable, AsyncIterator, Iterable, Mapping
+from dataclasses import dataclass, field
+from types import MappingProxyType
+from typing import Any, TypeAlias
+
+import asyncio
+
+from .envelope import Envelope
+
+
+DEFAULT_INPUT_PORT = "input"
+DEFAULT_OUTPUT_PORT = "output"
+
+
+@dataclass(frozen=True, slots=True)
+class Emission:
+    """One envelope emitted on a named output port."""
+
+    port: str
+    envelope: Envelope[Any]
+
+    def __post_init__(self) -> None:
+        if not self.port:
+            raise ValueError("emission port must not be empty")
+        if not isinstance(self.envelope, Envelope):
+            raise TypeError("emission envelope must be an Envelope")
+
+
+OutputItem: TypeAlias = Envelope[Any] | Emission
+OperatorResult: TypeAlias = (
+    OutputItem | Iterable[OutputItem] | AsyncIterable[OutputItem] | None
+)
+
+
+@dataclass(frozen=True, slots=True)
+class ComponentContext:
+    """Runtime information made available during component setup."""
+
+    pipeline_id: str
+    node_id: str
+    shutdown_event: asyncio.Event
+    metadata: Mapping[str, Any] = field(default_factory=dict)
+
+    def __post_init__(self) -> None:
+        if not self.pipeline_id:
+            raise ValueError("pipeline_id must not be empty")
+        if not self.node_id:
+            raise ValueError("node_id must not be empty")
+        object.__setattr__(self, "metadata", MappingProxyType(dict(self.metadata)))
+
+
+@dataclass(frozen=True, slots=True)
+class HealthReport:
+    """Small transport-neutral health response for supervisors."""
+
+    healthy: bool = True
+    detail: str = ""
+
+
+class Component(ABC):
+    """Base lifecycle shared by sources, operators and sinks.
+
+    Hooks are intentionally no-ops by default.  Implementations should acquire
+    expensive resources in ``setup`` or ``start`` and release them in ``stop``.
+    The runtime calls each hook at most once per start/stop cycle.
+    """
+
+    async def setup(self, context: ComponentContext) -> None:
+        """Validate configuration and allocate resources."""
+
+    async def start(self) -> None:
+        """Start background work after every node has completed setup."""
+
+    async def stop(self) -> None:
+        """Release resources; implementations should make this idempotent."""
+
+    async def health(self) -> HealthReport:
+        """Return the component's current health."""
+
+        return HealthReport()
+
+
+class Source(Component, ABC):
+    """A component that produces envelopes from an external or synthetic input."""
+
+    @abstractmethod
+    def messages(self) -> AsyncIterator[OutputItem]:
+        """Return an async iterator of envelopes or named emissions.
+
+        Yielding an :class:`Envelope` uses :data:`DEFAULT_OUTPUT_PORT`.
+        Implementations normally define this method as an async generator.
+        """
+
+        raise NotImplementedError
+
+
+class Operator(Component, ABC):
+    """A component that transforms an envelope and may emit zero or more results."""
+
+    @abstractmethod
+    async def process(
+        self,
+        envelope: Envelope[Any],
+        input_port: str = DEFAULT_INPUT_PORT,
+    ) -> OperatorResult:
+        """Process one envelope received on ``input_port``.
+
+        A plain envelope is emitted on :data:`DEFAULT_OUTPUT_PORT`; use
+        :class:`Emission` for a different output port.  Iterables and async
+        iterables are supported for zero-to-many transforms.
+        """
+
+        raise NotImplementedError
+
+
+class Sink(Component, ABC):
+    """A terminal component that sends messages to an external destination."""
+
+    @abstractmethod
+    async def consume(
+        self,
+        envelope: Envelope[Any],
+        input_port: str = DEFAULT_INPUT_PORT,
+    ) -> None:
+        """Consume one envelope received on ``input_port``."""
+
+        raise NotImplementedError
+
+
+async def iter_emissions(
+    result: OperatorResult,
+    *,
+    default_port: str = DEFAULT_OUTPUT_PORT,
+) -> AsyncIterator[Emission]:
+    """Normalize a component result into named emissions.
+
+    The helper performs strict element validation so a component accidentally
+    returning raw bytes or a model object fails near the offending node instead
+    of much later in a connector.
+    """
+
+    if not default_port:
+        raise ValueError("default_port must not be empty")
+
+    if result is None:
+        return
+    if isinstance(result, Envelope):
+        yield Emission(default_port, result)
+        return
+    if isinstance(result, Emission):
+        yield result
+        return
+
+    if isinstance(result, AsyncIterable):
+        async for item in result:
+            yield _as_emission(item, default_port)
+        return
+
+    if isinstance(result, Iterable):
+        for item in result:
+            yield _as_emission(item, default_port)
+        return
+
+    raise TypeError(
+        "component output must be an Envelope, Emission, iterable, "
+        "async iterable, or None"
+    )
+
+
+def _as_emission(item: OutputItem, default_port: str) -> Emission:
+    if isinstance(item, Emission):
+        return item
+    if isinstance(item, Envelope):
+        return Emission(default_port, item)
+    raise TypeError("component output iterable contains an invalid item")
+
+
+__all__ = [
+    "Component",
+    "ComponentContext",
+    "DEFAULT_INPUT_PORT",
+    "DEFAULT_OUTPUT_PORT",
+    "Emission",
+    "HealthReport",
+    "Operator",
+    "OperatorResult",
+    "OutputItem",
+    "Sink",
+    "Source",
+    "iter_emissions",
+]
diff --git a/src/cmvr_edge_ai/core/edge_queue.py b/src/cmvr_edge_ai/core/edge_queue.py
new file mode 100644
index 0000000..f285995
--- /dev/null
+++ b/src/cmvr_edge_ai/core/edge_queue.py
@@ -0,0 +1,232 @@
+"""Bounded per-edge queues with explicit overload behaviour."""
+
+from __future__ import annotations
+
+from collections import deque
+from collections.abc import AsyncIterator
+from dataclasses import dataclass
+from enum import Enum
+from typing import Deque, Generic, TypeVar
+
+import asyncio
+
+
+ItemT = TypeVar("ItemT")
+
+
+class OverflowPolicy(str, Enum):
+    """Action taken when a producer reaches an edge's capacity."""
+
+    BLOCK = "block"
+    DROP_OLDEST = "drop_oldest"
+    DROP_NEWEST = "drop_newest"
+    REJECT = "reject"
+
+
+class PutResult(str, Enum):
+    """Non-exceptional outcome of :meth:`EdgeQueue.put`."""
+
+    ENQUEUED = "enqueued"
+    DROPPED_OLDEST = "dropped_oldest"
+    DROPPED_NEWEST = "dropped_newest"
+
+
+class EdgeQueueError(RuntimeError):
+    """Base class for edge queue failures."""
+
+
+class EdgeQueueClosed(EdgeQueueError):
+    """Raised when reading a drained closed queue or writing a closed queue."""
+
+
+class EdgeQueueFull(EdgeQueueError):
+    """Raised when a full queue uses the ``reject`` overflow policy."""
+
+
+@dataclass(frozen=True, slots=True)
+class QueueStats:
+    """Point-in-time counters for one edge queue."""
+
+    capacity: int
+    current_size: int
+    high_watermark: int
+    enqueued: int
+    dequeued: int
+    dropped_oldest: int
+    dropped_newest: int
+    rejected: int
+    blocked_puts: int
+    discarded_on_close: int
+    closed: bool
+
+
+class EdgeQueue(Generic[ItemT]):
+    """A small asyncio queue whose overload policy is never implicit.
+
+    Unlike :class:`asyncio.Queue`, closing wakes both blocked producers and
+    consumers.  A normal close is drainable: existing items are returned before
+    :class:`EdgeQueueClosed` is raised.  ``close(discard=True)`` is available for
+    forced shutdown.
+    """
+
+    def __init__(
+        self,
+        capacity: int,
+        overflow: OverflowPolicy | str = OverflowPolicy.BLOCK,
+        *,
+        name: str = "",
+    ) -> None:
+        if capacity < 1:
+            raise ValueError("edge queue capacity must be at least 1")
+        try:
+            parsed_overflow = OverflowPolicy(overflow)
+        except ValueError as exc:
+            choices = ", ".join(policy.value for policy in OverflowPolicy)
+            raise ValueError(
+                f"unknown overflow policy {overflow!r}; use {choices}"
+            ) from exc
+
+        self._capacity = capacity
+        self._overflow = parsed_overflow
+        self._name = name
+        self._items: Deque[ItemT] = deque()
+        self._condition = asyncio.Condition()
+        self._closed = False
+
+        self._high_watermark = 0
+        self._enqueued = 0
+        self._dequeued = 0
+        self._dropped_oldest = 0
+        self._dropped_newest = 0
+        self._rejected = 0
+        self._blocked_puts = 0
+        self._discarded_on_close = 0
+
+    @property
+    def name(self) -> str:
+        return self._name
+
+    @property
+    def capacity(self) -> int:
+        return self._capacity
+
+    @property
+    def overflow(self) -> OverflowPolicy:
+        return self._overflow
+
+    @property
+    def closed(self) -> bool:
+        return self._closed
+
+    def qsize(self) -> int:
+        return len(self._items)
+
+    def empty(self) -> bool:
+        return not self._items
+
+    def full(self) -> bool:
+        return len(self._items) >= self._capacity
+
+    def stats(self) -> QueueStats:
+        """Return a consistent-enough event-loop snapshot of queue counters."""
+
+        return QueueStats(
+            capacity=self._capacity,
+            current_size=len(self._items),
+            high_watermark=self._high_watermark,
+            enqueued=self._enqueued,
+            dequeued=self._dequeued,
+            dropped_oldest=self._dropped_oldest,
+            dropped_newest=self._dropped_newest,
+            rejected=self._rejected,
+            blocked_puts=self._blocked_puts,
+            discarded_on_close=self._discarded_on_close,
+            closed=self._closed,
+        )
+
+    async def put(self, item: ItemT) -> PutResult:
+        """Put ``item`` according to this queue's overflow policy."""
+
+        async with self._condition:
+            self._raise_if_closed()
+
+            result = PutResult.ENQUEUED
+            if self._overflow is OverflowPolicy.BLOCK:
+                if self.full():
+                    self._blocked_puts += 1
+                while self.full() and not self._closed:
+                    await self._condition.wait()
+                self._raise_if_closed()
+            elif self.full() and self._overflow is OverflowPolicy.DROP_OLDEST:
+                self._items.popleft()
+                self._dropped_oldest += 1
+                result = PutResult.DROPPED_OLDEST
+            elif self.full() and self._overflow is OverflowPolicy.DROP_NEWEST:
+                self._dropped_newest += 1
+                return PutResult.DROPPED_NEWEST
+            elif self.full() and self._overflow is OverflowPolicy.REJECT:
+                self._rejected += 1
+                queue_name = f" {self._name!r}" if self._name else ""
+                raise EdgeQueueFull(f"edge queue{queue_name} is full")
+
+            self._items.append(item)
+            self._enqueued += 1
+            self._high_watermark = max(self._high_watermark, len(self._items))
+            self._condition.notify_all()
+            return result
+
+    async def get(self) -> ItemT:
+        """Get the next item, waiting until data arrives or the queue closes."""
+
+        async with self._condition:
+            while not self._items and not self._closed:
+                await self._condition.wait()
+            if not self._items:
+                raise EdgeQueueClosed(self._closed_message())
+
+            item = self._items.popleft()
+            self._dequeued += 1
+            self._condition.notify_all()
+            return item
+
+    async def close(self, *, discard: bool = False) -> None:
+        """Close the queue and wake all waiters.
+
+        The method is idempotent.  By default queued items remain available to
+        consumers.  With ``discard=True`` they are removed immediately and
+        accounted for in ``discarded_on_close``.
+        """
+
+        async with self._condition:
+            if discard and self._items:
+                self._discarded_on_close += len(self._items)
+                self._items.clear()
+            self._closed = True
+            self._condition.notify_all()
+
+    async def __aiter__(self) -> AsyncIterator[ItemT]:
+        while True:
+            try:
+                yield await self.get()
+            except EdgeQueueClosed:
+                return
+
+    def _raise_if_closed(self) -> None:
+        if self._closed:
+            raise EdgeQueueClosed(self._closed_message())
+
+    def _closed_message(self) -> str:
+        if self._name:
+            return f"edge queue {self._name!r} is closed"
+        return "edge queue is closed"
+
+
+__all__ = [
+    "EdgeQueue",
+    "EdgeQueueClosed",
+    "EdgeQueueError",
+    "EdgeQueueFull",
+    "OverflowPolicy",
+    "PutResult",
+    "QueueStats",
+]
diff --git a/src/cmvr_edge_ai/core/envelope.py b/src/cmvr_edge_ai/core/envelope.py
new file mode 100644
index 0000000..fb6741c
--- /dev/null
+++ b/src/cmvr_edge_ai/core/envelope.py
@@ -0,0 +1,139 @@
+"""Transport-neutral messages used inside an edge-ai pipeline.
+
+The envelope is deliberately independent from protobuf, HTTP and model-specific
+types.  Connectors translate their wire representation at the edge of the
+pipeline and operators only exchange :class:`Envelope` instances.
+"""
+
+from __future__ import annotations
+
+from dataclasses import dataclass, field
+from time import time_ns
+from types import MappingProxyType
+from typing import Any, Generic, Mapping, TypeVar
+from uuid import uuid4
+
+
+PayloadT = TypeVar("PayloadT")
+NewPayloadT = TypeVar("NewPayloadT")
+
+
+def _new_trace_id() -> str:
+    return uuid4().hex
+
+
+@dataclass(frozen=True, slots=True)
+class Envelope(Generic[PayloadT]):
+    """An immutable metadata wrapper around one pipeline payload.
+
+    ``Envelope`` immutability is shallow: the wrapper and its attributes cannot
+    be changed, but callers remain responsible for treating a mutable payload
+    (for example a NumPy array) as read-only after publishing it.  This permits
+    zero-copy fan-out without imposing a dependency on a particular array or
+    shared-memory implementation.
+
+    All timestamps use Unix time in nanoseconds so timestamps received from
+    remote processes can be compared.  ``deadline_ns`` is optional; runtimes do
+    not drop expired messages automatically because expiry policy is a business
+    decision best implemented by an operator or sink.
+    """
+
+    payload: PayloadT
+    schema_name: str = "opaque"
+    schema_version: int = 1
+    source_id: str = ""
+    sequence: int = 0
+    captured_at_ns: int | None = None
+    received_at_ns: int = field(default_factory=time_ns)
+    deadline_ns: int | None = None
+    trace_id: str = field(default_factory=_new_trace_id)
+    session_id: str | None = None
+    attributes: Mapping[str, Any] = field(default_factory=dict)
+
+    def __post_init__(self) -> None:
+        if not self.schema_name:
+            raise ValueError("schema_name must not be empty")
+        if self.schema_version < 1:
+            raise ValueError("schema_version must be at least 1")
+        if self.sequence < 0:
+            raise ValueError("sequence must not be negative")
+        if not self.trace_id:
+            raise ValueError("trace_id must not be empty")
+        if self.received_at_ns < 0:
+            raise ValueError("received_at_ns must not be negative")
+        if self.captured_at_ns is not None and self.captured_at_ns < 0:
+            raise ValueError("captured_at_ns must not be negative")
+        if self.deadline_ns is not None and self.deadline_ns < 0:
+            raise ValueError("deadline_ns must not be negative")
+
+        copied_attributes = dict(self.attributes)
+        if any(not isinstance(key, str) for key in copied_attributes):
+            raise TypeError("attribute keys must be strings")
+        object.__setattr__(
+            self,
+            "attributes",
+            MappingProxyType(copied_attributes),
+        )
+
+    @property
+    def schema(self) -> str:
+        """Return the compact schema identifier, for example ``ImageFrame/v1``."""
+
+        return f"{self.schema_name}/v{self.schema_version}"
+
+    def is_expired(self, now_ns: int | None = None) -> bool:
+        """Return whether the optional deadline has passed."""
+
+        if self.deadline_ns is None:
+            return False
+        return (time_ns() if now_ns is None else now_ns) >= self.deadline_ns
+
+    def with_payload(
+        self,
+        payload: NewPayloadT,
+        *,
+        schema_name: str | None = None,
+        schema_version: int | None = None,
+        source_id: str | None = None,
+    ) -> Envelope[NewPayloadT]:
+        """Create a derived envelope while retaining correlation metadata."""
+
+        return Envelope(
+            payload=payload,
+            schema_name=self.schema_name if schema_name is None else schema_name,
+            schema_version=(
+                self.schema_version if schema_version is None else schema_version
+            ),
+            source_id=self.source_id if source_id is None else source_id,
+            sequence=self.sequence,
+            captured_at_ns=self.captured_at_ns,
+            # Keep the ingress timestamp so end-to-end latency remains
+            # observable across an arbitrary number of operators.
+            received_at_ns=self.received_at_ns,
+            deadline_ns=self.deadline_ns,
+            trace_id=self.trace_id,
+            session_id=self.session_id,
+            attributes=self.attributes,
+        )
+
+    def with_attributes(self, **attributes: Any) -> Envelope[PayloadT]:
+        """Create a copy with additional or replaced read-only attributes."""
+
+        merged = dict(self.attributes)
+        merged.update(attributes)
+        return Envelope(
+            payload=self.payload,
+            schema_name=self.schema_name,
+            schema_version=self.schema_version,
+            source_id=self.source_id,
+            sequence=self.sequence,
+            captured_at_ns=self.captured_at_ns,
+            received_at_ns=self.received_at_ns,
+            deadline_ns=self.deadline_ns,
+            trace_id=self.trace_id,
+            session_id=self.session_id,
+            attributes=merged,
+        )
+
+
+__all__ = ["Envelope", "PayloadT"]
diff --git a/src/cmvr_edge_ai/core/runtime.py b/src/cmvr_edge_ai/core/runtime.py
new file mode 100644
index 0000000..d93e388
--- /dev/null
+++ b/src/cmvr_edge_ai/core/runtime.py
@@ -0,0 +1,667 @@
+"""A lightweight, in-process asynchronous pipeline runtime."""
+
+from __future__ import annotations
+
+from collections import defaultdict, deque
+from collections.abc import AsyncIterable, AsyncIterator, Iterable, Mapping
+from dataclasses import dataclass
+from enum import Enum
+from types import MappingProxyType
+from typing import Any
+
+import asyncio
+import inspect
+
+from .component import (
+    DEFAULT_INPUT_PORT,
+    DEFAULT_OUTPUT_PORT,
+    Component,
+    ComponentContext,
+    Emission,
+    HealthReport,
+    Operator,
+    Sink,
+    Source,
+    iter_emissions,
+)
+from .edge_queue import (
+    EdgeQueue,
+    EdgeQueueClosed,
+    OverflowPolicy,
+    QueueStats,
+)
+from .envelope import Envelope
+
+
+class RuntimeState(str, Enum):
+    CREATED = "created"
+    STARTING = "starting"
+    RUNNING = "running"
+    STOPPING = "stopping"
+    STOPPED = "stopped"
+
+
+class PipelineRuntimeError(RuntimeError):
+    """Base exception raised by the pipeline runtime."""
+
+
+class GraphValidationError(PipelineRuntimeError, ValueError):
+    """Raised when nodes and edges do not form a valid executable DAG."""
+
+
+class NodeExecutionError(PipelineRuntimeError):
+    """Wrap an exception with the id of the component that raised it."""
+
+    def __init__(self, node_id: str, cause: BaseException) -> None:
+        self.node_id = node_id
+        self.cause = cause
+        super().__init__(f"node {node_id!r} failed: {cause}")
+
+
+@dataclass(frozen=True, slots=True)
+class Edge:
+    """Declarative connection between one output port and one input port."""
+
+    source_node: str
+    target_node: str
+    source_port: str = DEFAULT_OUTPUT_PORT
+    target_port: str = DEFAULT_INPUT_PORT
+    capacity: int = 1
+    overflow: OverflowPolicy | str = OverflowPolicy.BLOCK
+    name: str | None = None
+
+    def __post_init__(self) -> None:
+        for field_name in (
+            "source_node",
+            "target_node",
+            "source_port",
+            "target_port",
+        ):
+            value = getattr(self, field_name)
+            if not value or not value.strip():
+                raise ValueError(f"{field_name} must not be empty")
+        if self.capacity < 1:
+            raise ValueError("edge capacity must be at least 1")
+        if self.name is not None and not self.name.strip():
+            raise ValueError("edge name must not be empty")
+        try:
+            object.__setattr__(self, "overflow", OverflowPolicy(self.overflow))
+        except ValueError as exc:
+            choices = ", ".join(policy.value for policy in OverflowPolicy)
+            raise ValueError(
+                f"unknown overflow policy {self.overflow!r}; use {choices}"
+            ) from exc
+
+    @property
+    def resolved_name(self) -> str:
+        return self.name or (
+            f"{self.source_node}.{self.source_port}"
+            f"->{self.target_node}.{self.target_port}"
+        )
+
+
+@dataclass(slots=True)
+class _LiveEdge:
+    spec: Edge
+    queue: EdgeQueue[Envelope[Any]]
+
+
+class PipelineRuntime:
+    """Execute a configuration-compiled DAG in one asyncio event loop.
+
+    The runtime intentionally does not own threads, processes, transports or
+    retry policy.  Those belong to components or a future worker supervisor.
+    Every graph edge owns a separate bounded queue, and only emissions matching
+    that edge's ``source_port`` are routed to it.
+
+    Runtime instances are one-shot.  Create a new instance to restart a stopped
+    pipeline; this avoids accidentally reusing closed queues or partially torn
+    down model resources.
+    """
+
+    def __init__(
+        self,
+        nodes: Mapping[str, Component],
+        edges: Iterable[Edge],
+        *,
+        pipeline_id: str = "pipeline",
+        shutdown_timeout_s: float = 10.0,
+        metadata: Mapping[str, Any] | None = None,
+    ) -> None:
+        if not pipeline_id or not pipeline_id.strip():
+            raise ValueError("pipeline_id must not be empty")
+        if shutdown_timeout_s < 0:
+            raise ValueError("shutdown_timeout_s must not be negative")
+
+        self._pipeline_id = pipeline_id
+        self._nodes = dict(nodes)
+        self._edge_specs = tuple(edges)
+        self._shutdown_timeout_s = shutdown_timeout_s
+        self._metadata = MappingProxyType(dict(metadata or {}))
+        self._state = RuntimeState.CREATED
+        self._shutdown_event = asyncio.Event()
+        self._stop_lock = asyncio.Lock()
+        self._tasks: dict[str, asyncio.Task[None]] = {}
+        self._setup_nodes: list[str] = []
+        self._stopped_nodes: set[str] = set()
+
+        self._validate_graph()
+        self._topological_order = self._compute_topological_order()
+        self._live_edges = tuple(
+            _LiveEdge(
+                spec=edge,
+                queue=EdgeQueue(
+                    edge.capacity,
+                    edge.overflow,
+                    name=edge.resolved_name,
+                ),
+            )
+            for edge in self._edge_specs
+        )
+        self._outgoing: dict[tuple[str, str], tuple[_LiveEdge, ...]] = (
+            self._index_outgoing()
+        )
+        self._incoming: dict[str, tuple[_LiveEdge, ...]] = self._index_incoming()
+
+    @property
+    def pipeline_id(self) -> str:
+        return self._pipeline_id
+
+    @property
+    def state(self) -> RuntimeState:
+        return self._state
+
+    @property
+    def nodes(self) -> Mapping[str, Component]:
+        return MappingProxyType(self._nodes)
+
+    @property
+    def edges(self) -> tuple[Edge, ...]:
+        return self._edge_specs
+
+    @property
+    def shutdown_event(self) -> asyncio.Event:
+        return self._shutdown_event
+
+    @property
+    def edge_queues(self) -> Mapping[str, EdgeQueue[Envelope[Any]]]:
+        return MappingProxyType(
+            {edge.spec.resolved_name: edge.queue for edge in self._live_edges}
+        )
+
+    def edge_stats(self) -> dict[str, QueueStats]:
+        """Return snapshots keyed by resolved edge name."""
+
+        return {
+            edge.spec.resolved_name: edge.queue.stats() for edge in self._live_edges
+        }
+
+    async def health(self) -> dict[str, HealthReport]:
+        """Collect health from all nodes without failing the whole query."""
+
+        async def check(node_id: str, component: Component) -> tuple[str, HealthReport]:
+            try:
+                report = await asyncio.wait_for(component.health(), timeout=1.0)
+                task = self._tasks.get(node_id)
+                if task is not None and task.done():
+                    if task.cancelled():
+                        report = HealthReport(False, "runtime task was cancelled")
+                    else:
+                        failure = task.exception()
+                        if failure is not None:
+                            report = HealthReport(
+                                False, f"runtime task failed: {failure}"
+                            )
+                        elif self._state is RuntimeState.RUNNING:
+                            report = HealthReport(
+                                False,
+                                "runtime task completed while pipeline is running",
+                            )
+            except Exception as exc:  # health is diagnostic, not pipeline control
+                report = HealthReport(False, f"health check failed: {exc}")
+            return node_id, report
+
+        reports = await asyncio.gather(
+            *(check(node_id, component) for node_id, component in self._nodes.items())
+        )
+        return dict(reports)
+
+    async def start(self) -> None:
+        """Run lifecycle hooks and start one task per component."""
+
+        async with self._stop_lock:
+            if self._state is not RuntimeState.CREATED:
+                raise PipelineRuntimeError(
+                    f"cannot start pipeline in state {self._state.value!r}"
+                )
+            self._state = RuntimeState.STARTING
+
+            try:
+                # Prepare downstream consumers before upstream producers.
+                for node_id in reversed(self._topological_order):
+                    component = self._nodes[node_id]
+                    context = ComponentContext(
+                        pipeline_id=self._pipeline_id,
+                        node_id=node_id,
+                        shutdown_event=self._shutdown_event,
+                        metadata=dict(self._metadata),
+                    )
+                    self._setup_nodes.append(node_id)
+                    await component.setup(context)
+
+                for node_id in reversed(self._topological_order):
+                    component = self._nodes[node_id]
+                    await component.start()
+            except BaseException:
+                self._shutdown_event.set()
+                deadline = asyncio.get_running_loop().time() + self._shutdown_timeout_s
+                await self._close_all_edges(discard=True)
+                await self._stop_components(deadline=deadline)
+                self._state = RuntimeState.STOPPED
+                raise
+
+            self._tasks = {
+                node_id: asyncio.create_task(
+                    self._run_node(node_id, self._nodes[node_id]),
+                    name=f"{self._pipeline_id}:{node_id}",
+                )
+                for node_id in reversed(self._topological_order)
+            }
+            self._state = RuntimeState.RUNNING
+
+    async def wait(self) -> None:
+        """Wait for natural completion, propagating the first node failure."""
+
+        if self._state not in (RuntimeState.RUNNING, RuntimeState.STOPPING):
+            if self._state is RuntimeState.STOPPED:
+                return
+            raise PipelineRuntimeError(
+                f"cannot wait for pipeline in state {self._state.value!r}"
+            )
+        try:
+            await asyncio.gather(*self._tasks.values())
+        except asyncio.CancelledError:
+            raise
+        except BaseException:
+            await self.stop(graceful=False)
+            raise
+
+    async def run(self) -> None:
+        """Start, wait, and always execute lifecycle teardown."""
+
+        await self.start()
+        try:
+            await self.wait()
+        finally:
+            await self.stop()
+
+    async def stop(
+        self,
+        *,
+        graceful: bool = True,
+        timeout_s: float | None = None,
+    ) -> None:
+        """Stop sources, optionally drain downstream queues, then tear down.
+
+        Graceful shutdown cancels source tasks first.  Their output queues close
+        in ``finally`` blocks, allowing operators and sinks to drain all already
+        accepted messages.  If draining exceeds the timeout, remaining tasks
+        are cancelled and queued messages are discarded.
+        """
+
+        if timeout_s is not None and timeout_s < 0:
+            raise ValueError("timeout_s must not be negative")
+
+        async with self._stop_lock:
+            if self._state is RuntimeState.STOPPED:
+                return
+            if self._state is RuntimeState.CREATED:
+                self._state = RuntimeState.STOPPED
+                self._shutdown_event.set()
+                await self._close_all_edges(discard=True)
+                return
+
+            self._state = RuntimeState.STOPPING
+            self._shutdown_event.set()
+            effective_timeout = (
+                self._shutdown_timeout_s if timeout_s is None else timeout_s
+            )
+            deadline = asyncio.get_running_loop().time() + effective_timeout
+
+            if graceful:
+                source_ids = tuple(
+                    node_id
+                    for node_id, component in self._nodes.items()
+                    if isinstance(component, Source)
+                )
+                self._cancel_tasks(source_ids)
+                # Source hooks close external subscriptions promptly.  Operators
+                # and sinks remain alive until accepted messages have drained.
+                await self._stop_components(source_ids, deadline=deadline)
+                drained = await self._wait_for_tasks(self._remaining(deadline))
+                if not drained:
+                    self._cancel_tasks()
+                    await self._close_all_edges(discard=True)
+                    await self._stop_components(deadline=deadline)
+                await self._join_tasks(self._remaining(deadline))
+            else:
+                self._cancel_tasks()
+                await self._close_all_edges(discard=True)
+                await self._stop_components(deadline=deadline)
+                await self._join_tasks(self._remaining(deadline))
+
+            await self._stop_components(deadline=deadline)
+            self._tasks.clear()
+            self._state = RuntimeState.STOPPED
+
+    async def _run_node(self, node_id: str, component: Component) -> None:
+        try:
+            if isinstance(component, Source):
+                await self._run_source(node_id, component)
+            elif isinstance(component, Operator):
+                await self._run_operator(node_id, component)
+            elif isinstance(component, Sink):
+                await self._run_sink(node_id, component)
+            else:  # guarded by graph validation
+                raise TypeError("unsupported component kind")
+        except asyncio.CancelledError:
+            raise
+        except BaseException as exc:
+            raise NodeExecutionError(node_id, exc) from exc
+        finally:
+            await self._close_outgoing(node_id)
+
+    async def _run_source(self, node_id: str, source: Source) -> None:
+        stream = source.messages()
+        if inspect.isawaitable(stream):
+            # Be tolerant of an ``async def`` factory that returns an iterator.
+            stream = await stream
+        if not isinstance(stream, AsyncIterable):
+            raise TypeError("Source.messages() must return an async iterable")
+
+        async for item in stream:
+            async for emission in iter_emissions(item):
+                await self._route(node_id, emission)
+
+    async def _run_operator(self, node_id: str, operator: Operator) -> None:
+        async for live_edge, envelope in self._receive(node_id):
+            result = await operator.process(
+                envelope,
+                input_port=live_edge.spec.target_port,
+            )
+            async for emission in iter_emissions(result):
+                await self._route(node_id, emission)
+
+    async def _run_sink(self, node_id: str, sink: Sink) -> None:
+        async for live_edge, envelope in self._receive(node_id):
+            await sink.consume(
+                envelope,
+                input_port=live_edge.spec.target_port,
+            )
+
+    async def _route(self, source_node: str, emission: Emission) -> None:
+        edges = self._outgoing.get((source_node, emission.port), ())
+        if not edges:
+            return
+
+        results = await asyncio.gather(
+            *(edge.queue.put(emission.envelope) for edge in edges),
+            return_exceptions=True,
+        )
+        for result in results:
+            if isinstance(result, EdgeQueueClosed) and self._shutdown_event.is_set():
+                continue
+            if isinstance(result, BaseException):
+                raise result
+
+    async def _receive(
+        self,
+        node_id: str,
+    ) -> AsyncIterator[tuple[_LiveEdge, Envelope[Any]]]:
+        incoming = self._incoming.get(node_id, ())
+        pending: dict[asyncio.Task[Envelope[Any]], _LiveEdge] = {
+            asyncio.create_task(
+                edge.queue.get(),
+                name=f"{self._pipeline_id}:{node_id}:read:{edge.spec.resolved_name}",
+            ): edge
+            for edge in incoming
+        }
+
+        try:
+            while pending:
+                done, _ = await asyncio.wait(
+                    pending,
+                    return_when=asyncio.FIRST_COMPLETED,
+                )
+                for task in done:
+                    edge = pending.pop(task)
+                    try:
+                        envelope = task.result()
+                    except EdgeQueueClosed:
+                        continue
+
+                    yield edge, envelope
+
+                    if not (edge.queue.closed and edge.queue.empty()):
+                        next_read = asyncio.create_task(
+                            edge.queue.get(),
+                            name=(
+                                f"{self._pipeline_id}:{node_id}:read:"
+                                f"{edge.spec.resolved_name}"
+                            ),
+                        )
+                        pending[next_read] = edge
+        finally:
+            for task in pending:
+                task.cancel()
+            if pending:
+                await asyncio.gather(*pending, return_exceptions=True)
+
+    async def _close_outgoing(self, node_id: str) -> None:
+        queues = [
+            live_edge.queue
+            for (source, _), edges in self._outgoing.items()
+            if source == node_id
+            for live_edge in edges
+        ]
+        if queues:
+            await asyncio.gather(*(queue.close() for queue in queues))
+
+    async def _close_all_edges(self, *, discard: bool) -> None:
+        if self._live_edges:
+            await asyncio.gather(
+                *(edge.queue.close(discard=discard) for edge in self._live_edges)
+            )
+
+    async def _wait_for_tasks(self, timeout_s: float) -> bool:
+        if not self._tasks:
+            return True
+        _, pending = await asyncio.wait(
+            self._tasks.values(),
+            timeout=timeout_s,
+            return_when=asyncio.ALL_COMPLETED,
+        )
+        return not pending
+
+    def _cancel_tasks(self, node_ids: Iterable[str] | None = None) -> None:
+        selected = self._tasks.keys() if node_ids is None else node_ids
+        for node_id in selected:
+            task = self._tasks.get(node_id)
+            if task is None:
+                continue
+            if not task.done():
+                task.cancel()
+
+    async def _join_tasks(self, timeout_s: float) -> bool:
+        tasks = tuple(self._tasks.values())
+        if not tasks:
+            return True
+        _, pending = await asyncio.wait(
+            tasks,
+            timeout=timeout_s,
+            return_when=asyncio.ALL_COMPLETED,
+        )
+        for task in pending:
+            task.cancel()
+        return not pending
+
+    async def _stop_components(
+        self,
+        node_ids: Iterable[str] | None = None,
+        *,
+        deadline: float | None = None,
+    ) -> None:
+        # setup may allocate resources even when a later start hook fails.
+        selected = None if node_ids is None else set(node_ids)
+        setup_order = list(dict.fromkeys(self._setup_nodes))
+        for node_id in reversed(setup_order):
+            if selected is not None and node_id not in selected:
+                continue
+            if node_id in self._stopped_nodes:
+                continue
+            try:
+                if deadline is None:
+                    await self._nodes[node_id].stop()
+                else:
+                    remaining = self._remaining(deadline)
+                    if remaining <= 0:
+                        continue
+                    await asyncio.wait_for(
+                        self._nodes[node_id].stop(), timeout=remaining
+                    )
+            except Exception:
+                # Teardown is best effort so one broken connector cannot leak all
+                # remaining resources.  Supervisors should surface node health/logs.
+                pass
+            finally:
+                self._stopped_nodes.add(node_id)
+        if selected is None:
+            self._setup_nodes.clear()
+
+    @staticmethod
+    def _remaining(deadline: float) -> float:
+        return max(0.0, deadline - asyncio.get_running_loop().time())
+
+    def _index_outgoing(self) -> dict[tuple[str, str], tuple[_LiveEdge, ...]]:
+        mutable: dict[tuple[str, str], list[_LiveEdge]] = defaultdict(list)
+        for edge in self._live_edges:
+            mutable[(edge.spec.source_node, edge.spec.source_port)].append(edge)
+        return {key: tuple(value) for key, value in mutable.items()}
+
+    def _index_incoming(self) -> dict[str, tuple[_LiveEdge, ...]]:
+        mutable: dict[str, list[_LiveEdge]] = defaultdict(list)
+        for edge in self._live_edges:
+            mutable[edge.spec.target_node].append(edge)
+        return {key: tuple(value) for key, value in mutable.items()}
+
+    def _validate_graph(self) -> None:
+        if not self._nodes:
+            raise GraphValidationError("pipeline must contain at least one node")
+
+        for node_id, component in self._nodes.items():
+            if not node_id or not node_id.strip():
+                raise GraphValidationError("node id must not be empty")
+            kinds = sum(
+                isinstance(component, kind) for kind in (Source, Operator, Sink)
+            )
+            if kinds != 1:
+                raise GraphValidationError(
+                    f"node {node_id!r} must implement exactly one of "
+                    "Source, Operator, or Sink"
+                )
+
+        edge_names: set[str] = set()
+        edge_keys: set[tuple[str, str, str, str]] = set()
+        incoming_count: dict[str, int] = defaultdict(int)
+        outgoing_count: dict[str, int] = defaultdict(int)
+        adjacency: dict[str, set[str]] = defaultdict(set)
+        indegree = {node_id: 0 for node_id in self._nodes}
+
+        for edge in self._edge_specs:
+            if edge.source_node not in self._nodes:
+                raise GraphValidationError(
+                    f"edge {edge.resolved_name!r} references unknown source node "
+                    f"{edge.source_node!r}"
+                )
+            if edge.target_node not in self._nodes:
+                raise GraphValidationError(
+                    f"edge {edge.resolved_name!r} references unknown target node "
+                    f"{edge.target_node!r}"
+                )
+            if edge.resolved_name in edge_names:
+                raise GraphValidationError(
+                    f"duplicate edge name {edge.resolved_name!r}"
+                )
+            edge_names.add(edge.resolved_name)
+
+            edge_key = (
+                edge.source_node,
+                edge.source_port,
+                edge.target_node,
+                edge.target_port,
+            )
+            if edge_key in edge_keys:
+                raise GraphValidationError(f"duplicate edge {edge.resolved_name!r}")
+            edge_keys.add(edge_key)
+            incoming_count[edge.target_node] += 1
+            outgoing_count[edge.source_node] += 1
+
+            if edge.target_node not in adjacency[edge.source_node]:
+                adjacency[edge.source_node].add(edge.target_node)
+                indegree[edge.target_node] += 1
+
+        for node_id, component in self._nodes.items():
+            if isinstance(component, Source) and incoming_count[node_id]:
+                raise GraphValidationError(
+                    f"source node {node_id!r} cannot have incoming edges"
+                )
+            if isinstance(component, (Operator, Sink)) and not incoming_count[node_id]:
+                raise GraphValidationError(
+                    f"{type(component).__name__.lower()} node {node_id!r} "
+                    "must have at least one incoming edge"
+                )
+            if isinstance(component, Sink) and outgoing_count[node_id]:
+                raise GraphValidationError(
+                    f"sink node {node_id!r} cannot have outgoing edges"
+                )
+
+        ready = deque(node_id for node_id, degree in indegree.items() if degree == 0)
+        visited = 0
+        while ready:
+            node_id = ready.popleft()
+            visited += 1
+            for target in adjacency[node_id]:
+                indegree[target] -= 1
+                if indegree[target] == 0:
+                    ready.append(target)
+        if visited != len(self._nodes):
+            raise GraphValidationError("pipeline graph must be acyclic")
+
+    def _compute_topological_order(self) -> tuple[str, ...]:
+        adjacency: dict[str, set[str]] = defaultdict(set)
+        indegree = {node_id: 0 for node_id in self._nodes}
+        for edge in self._edge_specs:
+            if edge.target_node not in adjacency[edge.source_node]:
+                adjacency[edge.source_node].add(edge.target_node)
+                indegree[edge.target_node] += 1
+
+        ready = deque(node_id for node_id, degree in indegree.items() if degree == 0)
+        ordered: list[str] = []
+        while ready:
+            node_id = ready.popleft()
+            ordered.append(node_id)
+            for target in adjacency[node_id]:
+                indegree[target] -= 1
+                if indegree[target] == 0:
+                    ready.append(target)
+        return tuple(ordered)
+
+
+__all__ = [
+    "Edge",
+    "GraphValidationError",
+    "NodeExecutionError",
+    "PipelineRuntime",
+    "PipelineRuntimeError",
+    "RuntimeState",
+]
diff --git a/src/cmvr_edge_ai/detection/__init__.py b/src/cmvr_edge_ai/detection/__init__.py
new file mode 100644
index 0000000..1771d65
--- /dev/null
+++ b/src/cmvr_edge_ai/detection/__init__.py
@@ -0,0 +1,38 @@
+"""Model-independent object detection, decoding and alert rules."""
+
+from .base import DetectionModel
+from .models import (
+    CONSTRUCTION_PPE_LABELS,
+    PPE_6CLASS_LABELS,
+    register_builtin_detection_models,
+)
+from .operator import DetectionOperator, DetectorParams
+from .plugins import register_detection_plugins
+from .registry import (
+    DetectionModelFactory,
+    DetectionModelRegistry,
+    DetectionModelRegistryError,
+    DetectionModelSpec,
+    DuplicateDetectionModelError,
+    UnknownDetectionModelError,
+)
+from .rules import DetectionTriggerOperator
+from .video import VideoDecoderOperator
+
+__all__ = [
+    "CONSTRUCTION_PPE_LABELS",
+    "PPE_6CLASS_LABELS",
+    "DetectionModel",
+    "DetectionModelFactory",
+    "DetectionModelRegistry",
+    "DetectionModelRegistryError",
+    "DetectionModelSpec",
+    "DetectionOperator",
+    "DetectionTriggerOperator",
+    "DetectorParams",
+    "DuplicateDetectionModelError",
+    "UnknownDetectionModelError",
+    "VideoDecoderOperator",
+    "register_builtin_detection_models",
+    "register_detection_plugins",
+]
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diff --git a/src/cmvr_edge_ai/detection/annotation.py b/src/cmvr_edge_ai/detection/annotation.py
new file mode 100644
index 0000000..6be6b3d
--- /dev/null
+++ b/src/cmvr_edge_ai/detection/annotation.py
@@ -0,0 +1,176 @@
+"""On-demand bounding-box rendering for detection alerts."""
+
+from __future__ import annotations
+
+from collections.abc import Sequence
+from importlib import import_module
+from io import BytesIO
+import math
+from typing import Any
+
+from cmvr_edge_ai.contracts import Detection, EncodedImage, ImageFrame
+
+
+class ImageAnnotationDependencyError(RuntimeError):
+    """Raised when the optional image annotation runtime is unavailable."""
+
+
+class ImageAnnotationError(ValueError):
+    """Raised when an input frame cannot be rendered safely."""
+
+
+def ensure_annotation_support() -> None:
+    """Fail early with an actionable message when Pillow is not installed."""
+
+    _pillow_modules()
+
+
+def render_annotated_jpeg(
+    frame: ImageFrame,
+    detections: Sequence[Detection],
+    *,
+    jpeg_quality: int,
+) -> EncodedImage:
+    """Draw valid detection boxes and encode one decoded frame as JPEG."""
+
+    if isinstance(jpeg_quality, bool) or not isinstance(jpeg_quality, int):
+        raise ImageAnnotationError("jpeg_quality must be an integer")
+    if not 1 <= jpeg_quality <= 95:
+        raise ImageAnnotationError("jpeg_quality must be between 1 and 95")
+    _validate_frame(frame)
+    image_module, image_draw_module = _pillow_modules()
+
+    raw_mode = "BGR" if frame.pixel_format.upper() == "BGR8" else "RGB"
+    image = image_module.frombytes(
+        "RGB",
+        (frame.width, frame.height),
+        frame.data,
+        "raw",
+        raw_mode,
+    )
+    draw = image_draw_module.Draw(image)
+    for detection in detections:
+        if not isinstance(detection, Detection):
+            raise ImageAnnotationError(
+                "detections must contain Detection instances"
+            )
+        box = _clipped_box(detection, frame.width, frame.height)
+        if box is None:
+            # One corrupt backend box must not prevent the other evidence boxes
+            # or the structured safety alert from being produced.
+            continue
+        color = _label_color(detection.label)
+        draw.rectangle(box, outline=color, width=3)
+        label = f"{detection.label} {detection.confidence:.2f}"
+        text_box = draw.textbbox((box[0], box[1]), label)
+        text_width = max(1, text_box[2] - text_box[0])
+        text_height = max(1, text_box[3] - text_box[1])
+        text_y = max(0.0, box[1] - text_height - 4)
+        background = (
+            box[0],
+            text_y,
+            min(float(frame.width - 1), box[0] + text_width + 4),
+            min(float(frame.height - 1), text_y + text_height + 4),
+        )
+        draw.rectangle(background, fill=color)
+        draw.text((box[0] + 2, text_y + 2), label, fill=(255, 255, 255))
+
+    output = BytesIO()
+    image.save(output, format="JPEG", quality=jpeg_quality)
+    return EncodedImage(
+        data=output.getvalue(),
+        media_type="image/jpeg",
+        width=frame.width,
+        height=frame.height,
+    )
+
+
+def _pillow_modules() -> tuple[Any, Any]:
+    try:
+        return import_module("PIL.Image"), import_module("PIL.ImageDraw")
+    except ImportError as exc:
+        raise ImageAnnotationDependencyError(
+            "alert images require Pillow; install the 'image' extra "
+            "(uv sync --extra image)"
+        ) from exc
+
+
+def _validate_frame(frame: ImageFrame) -> None:
+    if not isinstance(frame, ImageFrame):
+        raise ImageAnnotationError(
+            f"expected ImageFrame, got {type(frame).__name__}"
+        )
+    if not isinstance(frame.codec, str):
+        raise ImageAnnotationError("frame codec must be a string")
+    if frame.codec.lower() not in {"", "none", "raw"}:
+        raise ImageAnnotationError("alert images require a decoded ImageFrame")
+    if not isinstance(frame.pixel_format, str) or frame.pixel_format.upper() not in {
+        "BGR8",
+        "RGB8",
+    }:
+        raise ImageAnnotationError(
+            "alert images support only packed BGR8 or RGB8 frames"
+        )
+    if (
+        isinstance(frame.width, bool)
+        or not isinstance(frame.width, int)
+        or frame.width < 1
+        or isinstance(frame.height, bool)
+        or not isinstance(frame.height, int)
+        or frame.height < 1
+    ):
+        raise ImageAnnotationError("frame dimensions must be positive integers")
+    expected_size = frame.width * frame.height * 3
+    if not isinstance(frame.data, bytes):
+        raise ImageAnnotationError("packed frame buffer must be bytes")
+    if len(frame.data) != expected_size:
+        raise ImageAnnotationError(
+            f"packed frame buffer has {len(frame.data)} bytes; "
+            f"expected {expected_size}"
+        )
+
+
+def _clipped_box(
+    detection: Detection,
+    width: int,
+    height: int,
+) -> tuple[float, float, float, float] | None:
+    values = (
+        detection.box.x_min,
+        detection.box.y_min,
+        detection.box.x_max,
+        detection.box.y_max,
+    )
+    if any(
+        isinstance(value, bool)
+        or not isinstance(value, (int, float))
+        or not math.isfinite(float(value))
+        for value in values
+    ):
+        return None
+    x_min, y_min, x_max, y_max = (float(value) for value in values)
+    if x_max <= x_min or y_max <= y_min:
+        return None
+    clipped = (
+        min(max(x_min, 0.0), float(width - 1)),
+        min(max(y_min, 0.0), float(height - 1)),
+        min(max(x_max, 0.0), float(width - 1)),
+        min(max(y_max, 0.0), float(height - 1)),
+    )
+    if clipped[2] <= clipped[0] or clipped[3] <= clipped[1]:
+        return None
+    return clipped
+
+
+def _label_color(label: str) -> tuple[int, int, int]:
+    # Stable across processes unlike Python's randomized hash().
+    seed = sum((index + 1) * byte for index, byte in enumerate(label.encode("utf-8")))
+    return (64 + seed % 192, 64 + (seed * 5) % 192, 64 + (seed * 11) % 192)
+
+
+__all__ = [
+    "ImageAnnotationDependencyError",
+    "ImageAnnotationError",
+    "ensure_annotation_support",
+    "render_annotated_jpeg",
+]
diff --git a/src/cmvr_edge_ai/detection/base.py b/src/cmvr_edge_ai/detection/base.py
new file mode 100644
index 0000000..0c3224a
--- /dev/null
+++ b/src/cmvr_edge_ai/detection/base.py
@@ -0,0 +1,50 @@
+"""Backend-neutral abstraction for object-detection models."""
+
+from __future__ import annotations
+
+from abc import ABC, abstractmethod
+from collections.abc import Sequence
+
+from cmvr_edge_ai.contracts import Detection, ImageFrame
+
+
+class DetectionModel(ABC):
+    """A loaded detection model owned by one pipeline component.
+
+    The interface is deliberately synchronous because most inference SDKs expose
+    blocking APIs.  Pipeline operators must offload these methods to the shared
+    thread executor (or to an explicitly owned process worker) instead of calling
+    them directly on the asyncio event loop.
+    """
+
+    @abstractmethod
+    def load(self) -> None:
+        """Load weights and allocate model runtime resources."""
+
+        raise NotImplementedError
+
+    @abstractmethod
+    def predict(
+        self,
+        frame: ImageFrame,
+        labels: tuple[str, ...],
+        confidence: float,
+    ) -> Sequence[Detection]:
+        """Detect selected ``labels`` in one decoded image frame.
+
+        Implementations may use the selected labels to reduce backend
+        post-processing, but callers still validate/filter returned detections at
+        the common operator boundary.  ``confidence`` is in the inclusive
+        ``[0, 1]`` range.
+        """
+
+        raise NotImplementedError
+
+    @abstractmethod
+    def close(self) -> None:
+        """Release model resources; implementations should be idempotent."""
+
+        raise NotImplementedError
+
+
+__all__ = ["DetectionModel"]
diff --git a/src/cmvr_edge_ai/detection/models/__init__.py b/src/cmvr_edge_ai/detection/models/__init__.py
new file mode 100644
index 0000000..8118766
--- /dev/null
+++ b/src/cmvr_edge_ai/detection/models/__init__.py
@@ -0,0 +1,17 @@
+"""Built-in detection model adapters and artifact registrations."""
+
+from .ppe_yolo import (
+    CONSTRUCTION_PPE_LABELS,
+    PPE_6CLASS_LABELS,
+    register_builtin_detection_models,
+)
+from .yolo import UltralyticsYoloModel, YoloDependencyError, YoloModelOptions
+
+__all__ = [
+    "CONSTRUCTION_PPE_LABELS",
+    "PPE_6CLASS_LABELS",
+    "UltralyticsYoloModel",
+    "YoloDependencyError",
+    "YoloModelOptions",
+    "register_builtin_detection_models",
+]
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diff --git a/src/cmvr_edge_ai/detection/models/ppe_yolo.py b/src/cmvr_edge_ai/detection/models/ppe_yolo.py
new file mode 100644
index 0000000..9dc6c02
--- /dev/null
+++ b/src/cmvr_edge_ai/detection/models/ppe_yolo.py
@@ -0,0 +1,96 @@
+"""Registration metadata for the built-in PPE YOLOv8 checkpoints."""
+
+from __future__ import annotations
+
+from collections.abc import Mapping
+from typing import Any
+
+from ..base import DetectionModel
+from ..registry import DetectionModelRegistry, DetectionModelSpec
+from .yolo import UltralyticsYoloModel
+
+
+CONSTRUCTION_PPE_LABELS = (
+    "Boots",
+    "Ear-Protection",
+    "Glass",
+    "Glove",
+    "Hard_hat",
+    "Mask",
+    "No-Boots",
+    "No-Ear-Protection",
+    "No-Glass",
+    "No-Glove",
+    "No-Helmet",
+    "No-Mask",
+    "No-Vest",
+    "Worker",
+    "Vest",
+    "Circular_Saw",
+    "Fire_Extinguisher",
+    "Fire_prevention_Net",
+    "Welding_Equipment",
+)
+
+PPE_6CLASS_LABELS = (
+    "Gloves",
+    "Vest",
+    "goggles",
+    "helmet",
+    "mask",
+    "safety_shoe",
+)
+
+
+def _create_construction_ppe_model(
+    params: Mapping[str, Any],
+) -> DetectionModel:
+    return UltralyticsYoloModel(
+        params,
+        expected_labels=CONSTRUCTION_PPE_LABELS,
+    )
+
+
+def _create_ppe_6classes_model(
+    params: Mapping[str, Any],
+) -> DetectionModel:
+    return UltralyticsYoloModel(
+        params,
+        expected_labels=PPE_6CLASS_LABELS,
+    )
+
+
+def register_builtin_detection_models(registry: DetectionModelRegistry) -> None:
+    registry.register(
+        DetectionModelSpec(
+            model_id="construction-ppe-yolov8@1",
+            name="Construction PPE YOLOv8s",
+            supported_labels=CONSTRUCTION_PPE_LABELS,
+            factory=_create_construction_ppe_model,
+            backend="ultralytics-yolo",
+            description=(
+                "Construction-site worker and personal protective equipment "
+                "detector with positive and No-* violation labels"
+            ),
+        )
+    )
+    registry.register(
+        DetectionModelSpec(
+            model_id="ppe-6classes-yolov8n@1",
+            name="PPE Detection YOLOv8n (6 Classes)",
+            supported_labels=PPE_6CLASS_LABELS,
+            factory=_create_ppe_6classes_model,
+            backend="ultralytics-yolo",
+            description=(
+                "Lightweight six-class personal protective equipment detector "
+                "for gloves, vests, goggles, helmets, masks and safety shoes"
+            ),
+        )
+    )
+
+
+__all__ = [
+    "CONSTRUCTION_PPE_LABELS",
+    "PPE_6CLASS_LABELS",
+    "register_builtin_detection_models",
+]
diff --git a/src/cmvr_edge_ai/detection/models/yolo.py b/src/cmvr_edge_ai/detection/models/yolo.py
new file mode 100644
index 0000000..1aff00d
--- /dev/null
+++ b/src/cmvr_edge_ai/detection/models/yolo.py
@@ -0,0 +1,209 @@
+"""Ultralytics YOLO adapter for registered detection model artifacts."""
+
+from __future__ import annotations
+
+from collections.abc import Mapping, Sequence
+from importlib import import_module
+from pathlib import Path
+from typing import Any
+
+from pydantic import BaseModel, ConfigDict, Field, field_validator
+
+from cmvr_edge_ai.contracts import BoundingBox, Detection, ImageFrame
+
+from ..base import DetectionModel
+
+
+class YoloDependencyError(RuntimeError):
+    """Raised when the optional YOLO runtime has not been installed."""
+
+
+class YoloModelOptions(BaseModel):
+    model_config = ConfigDict(extra="forbid", frozen=True)
+
+    weights: str = Field(min_length=1)
+    device: int | str = "cpu"
+    imgsz: int = Field(default=640, ge=32, le=8192)
+    iou: float = Field(default=0.7, ge=0.0, le=1.0)
+    half: bool = False
+    max_det: int = Field(default=300, ge=1, le=100_000)
+    agnostic_nms: bool = False
+
+    @field_validator("weights")
+    @classmethod
+    def normalize_weights(cls, value: str) -> str:
+        value = value.strip()
+        if not value:
+            raise ValueError("weights must not be empty")
+        return value
+
+    @field_validator("device")
+    @classmethod
+    def validate_device(cls, value: int | str) -> int | str:
+        if isinstance(value, int):
+            if value < 0:
+                raise ValueError("device must be non-negative")
+            return value
+        value = value.strip()
+        if not value:
+            raise ValueError("device must not be empty")
+        return value
+
+
+class UltralyticsYoloModel(DetectionModel):
+    """Normalize an Ultralytics detector behind the framework model API."""
+
+    def __init__(
+        self,
+        params: Mapping[str, Any],
+        *,
+        expected_labels: tuple[str, ...],
+    ) -> None:
+        try:
+            self._options = YoloModelOptions.model_validate(dict(params))
+        except Exception as exc:
+            raise ValueError(f"invalid YOLO model options: {exc}") from exc
+        self._expected_labels = expected_labels
+        self._label_to_id = {
+            label: index for index, label in enumerate(self._expected_labels)
+        }
+        self._model: Any = None
+        self._numpy: Any = None
+
+    @property
+    def weights_path(self) -> Path:
+        return Path(self._options.weights).expanduser()
+
+    def load(self) -> None:
+        weights = self.weights_path
+        if not weights.is_file():
+            raise FileNotFoundError(f"YOLO weights do not exist: {weights}")
+        try:
+            np = import_module("numpy")
+            YOLO = getattr(import_module("ultralytics"), "YOLO")
+        except ImportError as exc:
+            raise YoloDependencyError(
+                "YOLO support is not installed; install "
+                "cmvr-edge-ai[yolo]. The PPE checkpoint was created with "
+                "Ultralytics 8.4.31, so validate the deployed 8.x runtime."
+            ) from exc
+
+        # Ultralytics .pt files use the PyTorch checkpoint loader.  Deploy only
+        # weights obtained from a trusted build/artifact source.
+        model = YOLO(str(weights), task="detect")
+        actual_labels = _ordered_model_names(model.names)
+        if actual_labels != self._expected_labels:
+            raise ValueError(
+                "YOLO checkpoint labels do not match the registered model: "
+                f"expected {self._expected_labels!r}, got {actual_labels!r}"
+            )
+        self._numpy = np
+        self._model = model
+
+    def predict(
+        self,
+        frame: ImageFrame,
+        labels: tuple[str, ...],
+        confidence: float,
+    ) -> Sequence[Detection]:
+        if self._model is None or self._numpy is None:
+            raise RuntimeError("YOLO model has not been loaded")
+        if frame.is_encoded:
+            raise ValueError("YOLO requires a decoded ImageFrame")
+        pixel_format = frame.pixel_format.strip().upper()
+        if pixel_format not in {"BGR8", "RGB8"}:
+            raise ValueError(
+                f"YOLO adapter supports BGR8 or RGB8, got {frame.pixel_format!r}"
+            )
+        expected_size = frame.width * frame.height * 3
+        if frame.width <= 0 or frame.height <= 0 or len(frame.data) != expected_size:
+            raise ValueError(
+                "decoded frame buffer size does not match width*height*3: "
+                f"got {len(frame.data)}, expected {expected_size}"
+            )
+
+        image = self._numpy.frombuffer(frame.data, dtype=self._numpy.uint8).reshape(
+            (frame.height, frame.width, 3)
+        )
+        if pixel_format == "RGB8":
+            # Ultralytics ndarray inputs follow the OpenCV BGR convention.
+            image = image[:, :, ::-1]
+
+        class_ids = [self._label_to_id[label] for label in labels]
+        results = self._model.predict(
+            source=image,
+            classes=class_ids,
+            conf=confidence,
+            iou=self._options.iou,
+            imgsz=self._options.imgsz,
+            device=self._options.device,
+            half=self._options.half,
+            max_det=self._options.max_det,
+            agnostic_nms=self._options.agnostic_nms,
+            verbose=False,
+        )
+        if not results:
+            return ()
+        boxes = results[0].boxes
+        if boxes is None:
+            return ()
+
+        xyxy_rows = _to_python_list(boxes.xyxy)
+        confidences = _to_python_list(boxes.conf)
+        class_indexes = _to_python_list(boxes.cls)
+        detections: list[Detection] = []
+        selected = frozenset(labels)
+        for coordinates, score, class_index in zip(
+            xyxy_rows, confidences, class_indexes
+        ):
+            index = int(class_index)
+            if not 0 <= index < len(self._expected_labels):
+                raise ValueError(f"YOLO returned an unknown class id: {index}")
+            label = self._expected_labels[index]
+            if label not in selected:
+                continue
+            if len(coordinates) != 4:
+                raise ValueError("YOLO xyxy result must contain four coordinates")
+            detections.append(
+                Detection(
+                    label=label,
+                    confidence=float(score),
+                    box=BoundingBox(*(float(value) for value in coordinates)),
+                )
+            )
+        return tuple(detections)
+
+    def close(self) -> None:
+        self._model = None
+        self._numpy = None
+
+
+def _ordered_model_names(value: Any) -> tuple[str, ...]:
+    if isinstance(value, Mapping):
+        try:
+            indexes = sorted(int(key) for key in value)
+            if indexes != list(range(len(indexes))):
+                raise ValueError("class IDs must be contiguous and start at zero")
+            return tuple(str(value[index]) for index in indexes)
+        except (KeyError, TypeError, ValueError) as exc:
+            raise ValueError(f"invalid YOLO model.names mapping: {value!r}") from exc
+    if isinstance(value, Sequence) and not isinstance(value, (str, bytes, bytearray)):
+        return tuple(str(label) for label in value)
+    raise ValueError(f"invalid YOLO model.names value: {value!r}")
+
+
+def _to_python_list(value: Any) -> list[Any]:
+    if hasattr(value, "detach"):
+        value = value.detach()
+    if hasattr(value, "cpu"):
+        value = value.cpu()
+    if hasattr(value, "tolist"):
+        value = value.tolist()
+    return list(value)
+
+
+__all__ = [
+    "UltralyticsYoloModel",
+    "YoloDependencyError",
+    "YoloModelOptions",
+]
diff --git a/src/cmvr_edge_ai/detection/operator.py b/src/cmvr_edge_ai/detection/operator.py
new file mode 100644
index 0000000..63b1649
--- /dev/null
+++ b/src/cmvr_edge_ai/detection/operator.py
@@ -0,0 +1,374 @@
+"""Model-independent detection pipeline operator."""
+
+from __future__ import annotations
+
+import logging
+import math
+from collections import Counter
+from collections.abc import Mapping, Sequence
+from concurrent.futures import Executor
+from time import monotonic_ns, perf_counter
+from typing import Any
+
+from pydantic import BaseModel, ConfigDict, Field, field_validator, model_validator
+
+from cmvr_edge_ai.contracts import Detection, DetectionResult, ImageFrame
+from cmvr_edge_ai.core.component import (
+    ComponentContext,
+    Emission,
+    HealthReport,
+    Operator,
+)
+from cmvr_edge_ai.core.envelope import Envelope
+from cmvr_edge_ai.workers import run_blocking
+
+from .base import DetectionModel
+from .registry import DetectionModelRegistry, DetectionModelSpec
+
+
+_LOGGER = logging.getLogger(__name__)
+
+
+class DetectorParams(BaseModel):
+    """Strict deployment parameters shared by every detection backend."""
+
+    model_config = ConfigDict(extra="forbid", frozen=True, protected_namespaces=())
+
+    model: str = Field(min_length=1)
+    detect_labels: tuple[str, ...] | None = None
+    confidence: float = Field(default=0.25, ge=0.0, le=1.0)
+    label_confidence: dict[str, float] = Field(default_factory=dict)
+    model_options: dict[str, Any] = Field(default_factory=dict)
+    max_fps: float | None = Field(default=None, gt=0.0, le=1000.0)
+    attach_frame: bool = Field(default=False, strict=True)
+    inference_log_interval_s: float | None = Field(
+        default=None,
+        gt=0.0,
+        le=3600.0,
+    )
+
+    @field_validator("model")
+    @classmethod
+    def normalize_model(cls, value: str) -> str:
+        value = value.strip()
+        if not value:
+            raise ValueError("model must not be empty")
+        return value
+
+    @field_validator("inference_log_interval_s", mode="before")
+    @classmethod
+    def reject_boolean_log_interval(cls, value: Any) -> Any:
+        if isinstance(value, bool):
+            raise ValueError("inference_log_interval_s must be a number of seconds")
+        return value
+
+    @field_validator("detect_labels")
+    @classmethod
+    def validate_detect_labels(
+        cls, value: tuple[str, ...] | None
+    ) -> tuple[str, ...] | None:
+        if value is None:
+            return None
+        if not value:
+            raise ValueError("detect_labels must not be empty; omit it to detect all")
+        normalized = tuple(label.strip() for label in value)
+        if any(not label for label in normalized):
+            raise ValueError("detect_labels must contain non-empty strings")
+        if len(set(normalized)) != len(normalized):
+            raise ValueError("detect_labels must not contain duplicates")
+        return normalized
+
+    @field_validator("label_confidence")
+    @classmethod
+    def validate_label_confidence(cls, value: dict[str, float]) -> dict[str, float]:
+        normalized: dict[str, float] = {}
+        for label, confidence in value.items():
+            clean_label = label.strip()
+            if not clean_label:
+                raise ValueError("label_confidence keys must not be empty")
+            parsed = float(confidence)
+            if not 0.0 <= parsed <= 1.0:
+                raise ValueError(
+                    f"label_confidence.{clean_label} must be between 0 and 1"
+                )
+            normalized[clean_label] = parsed
+        return normalized
+
+    @model_validator(mode="after")
+    def validate_label_threshold_scope(self) -> DetectorParams:
+        if self.detect_labels is not None:
+            unknown = set(self.label_confidence) - set(self.detect_labels)
+            if unknown:
+                raise ValueError(
+                    "label_confidence contains labels not selected by detect_labels: "
+                    + ", ".join(sorted(unknown))
+                )
+        return self
+
+
+class DetectionOperator(Operator):
+    """Load one registered model and normalize its per-frame detections."""
+
+    def __init__(
+        self,
+        node_id: str,
+        params: Mapping[str, Any],
+        *,
+        model_registry: DetectionModelRegistry,
+    ) -> None:
+        self._node_id = node_id
+        try:
+            self._params = DetectorParams.model_validate(dict(params))
+        except Exception as exc:
+            raise ValueError(f"invalid detection node parameters: {exc}") from exc
+
+        self._spec = model_registry.resolve(self._params.model)
+        selected = (
+            self._spec.supported_labels
+            if self._params.detect_labels is None
+            else self._params.detect_labels
+        )
+        unsupported = set(selected) - set(self._spec.supported_labels)
+        if unsupported:
+            raise ValueError(
+                f"model {self._spec.model_id!r} does not support label(s): "
+                + ", ".join(sorted(unsupported))
+            )
+        invalid_thresholds = set(self._params.label_confidence) - set(
+            self._spec.supported_labels
+        )
+        if invalid_thresholds:
+            raise ValueError(
+                f"model {self._spec.model_id!r} does not support threshold label(s): "
+                + ", ".join(sorted(invalid_thresholds))
+            )
+
+        self._selected_labels = tuple(selected)
+        self._selected_label_set = frozenset(selected)
+        self._minimum_backend_confidence = min(
+            (
+                self._params.label_confidence.get(label, self._params.confidence)
+                for label in self._selected_labels
+            ),
+            default=self._params.confidence,
+        )
+        self._model: DetectionModel = self._spec.factory(self._params.model_options)
+        if not isinstance(self._model, DetectionModel):
+            raise TypeError(
+                f"model factory for {self._spec.model_id!r} returned "
+                f"{type(self._model).__name__}, expected DetectionModel"
+            )
+
+        self._executor: Executor | None = None
+        self._loaded = False
+        self._closed = False
+        self._last_started_ns: int | None = None
+        self._processed = 0
+        self._skipped_rate_limit = 0
+        self._detections = 0
+        self._last_inference_log_ns: int | None = None
+        self._log_window_frames = 0
+        self._log_window_detections = 0
+        self._log_window_inference_ms = 0.0
+        self._log_window_labels: Counter[str] = Counter()
+
+    @property
+    def model_spec(self) -> DetectionModelSpec:
+        return self._spec
+
+    @property
+    def selected_labels(self) -> tuple[str, ...]:
+        return self._selected_labels
+
+    @property
+    def attach_frame(self) -> bool:
+        return self._params.attach_frame
+
+    async def setup(self, context: ComponentContext) -> None:
+        if self._closed:
+            raise RuntimeError("detection operator is already closed")
+        executor = context.metadata.get("thread_executor")
+        if executor is not None and not isinstance(executor, Executor):
+            raise TypeError("component context thread_executor is not an Executor")
+        self._executor = executor
+        load_started = perf_counter()
+        await run_blocking(self._model.load, executor=self._executor)
+        load_ms = (perf_counter() - load_started) * 1000.0
+        self._loaded = True
+        _LOGGER.info(
+            "detection model loaded node=%s model=%s name=%s backend=%s "
+            "labels=%s load_ms=%.2f",
+            self._node_id,
+            self._spec.model_id,
+            self._spec.name,
+            self._spec.backend,
+            ",".join(self._selected_labels),
+            load_ms,
+        )
+
+    async def process(
+        self, envelope: Envelope[Any], input_port: str = "frames"
+    ) -> Emission | None:
+        del input_port
+        if not self._loaded:
+            raise RuntimeError("detection model has not been loaded")
+        frame = envelope.payload
+        if not isinstance(frame, ImageFrame):
+            raise TypeError(
+                f"{self._node_id} expected ImageFrame, got {type(frame).__name__}"
+            )
+        if frame.is_encoded:
+            raise ValueError(
+                f"{self._node_id} requires a decoded ImageFrame; got codec "
+                f"{frame.codec!r}"
+            )
+
+        now = monotonic_ns()
+        if self._params.max_fps is not None and self._last_started_ns is not None:
+            minimum_interval_ns = int(1_000_000_000 / self._params.max_fps)
+            if now - self._last_started_ns < minimum_interval_ns:
+                self._skipped_rate_limit += 1
+                return None
+        self._last_started_ns = now
+
+        started = perf_counter()
+        predicted = await run_blocking(
+            self._model.predict,
+            frame,
+            labels=self._selected_labels,
+            confidence=self._minimum_backend_confidence,
+            executor=self._executor,
+        )
+        inference_ms = (perf_counter() - started) * 1000.0
+        detections = self._filter_detections(predicted)
+        self._processed += 1
+        self._detections += len(detections)
+        self._record_inference_log(
+            envelope,
+            detections,
+            inference_ms=inference_ms,
+            now_ns=now,
+        )
+
+        result = DetectionResult(
+            detections=detections,
+            model_id=self._spec.model_id,
+            inference_ms=inference_ms,
+            model_name=self._spec.name,
+            source_frame=frame if self._params.attach_frame else None,
+        )
+        output = envelope.with_payload(
+            result,
+            schema_name="DetectionResult",
+            schema_version=1,
+        ).with_attributes(
+            detection_model_id=self._spec.model_id,
+            detection_model_name=self._spec.name,
+        )
+        return Emission("detections", output)
+
+    async def stop(self) -> None:
+        if self._closed:
+            return
+        self._closed = True
+        try:
+            # close() is required to be idempotent and is also called after a
+            # partially failed load so native allocations are not leaked.
+            await run_blocking(self._model.close, executor=self._executor)
+        finally:
+            self._loaded = False
+
+    async def health(self) -> HealthReport:
+        return HealthReport(
+            healthy=self._loaded,
+            detail=(
+                f"model={self._spec.model_id} loaded={self._loaded} "
+                f"frames={self._processed} detections={self._detections} "
+                f"rate_skipped={self._skipped_rate_limit}"
+            ),
+        )
+
+    def _record_inference_log(
+        self,
+        envelope: Envelope[Any],
+        detections: tuple[Detection, ...],
+        *,
+        inference_ms: float,
+        now_ns: int,
+    ) -> None:
+        interval_s = self._params.inference_log_interval_s
+        if interval_s is None:
+            return
+
+        self._log_window_frames += 1
+        self._log_window_detections += len(detections)
+        self._log_window_inference_ms += inference_ms
+        self._log_window_labels.update(item.label for item in detections)
+
+        interval_ns = int(interval_s * 1_000_000_000)
+        if (
+            self._last_inference_log_ns is not None
+            and now_ns - self._last_inference_log_ns < interval_ns
+        ):
+            return
+
+        hit_labels = ",".join(
+            f"{label}:{count}"
+            for label, count in sorted(self._log_window_labels.items())
+        ) or "none"
+        average_inference_ms = (
+            self._log_window_inference_ms / self._log_window_frames
+        )
+        _LOGGER.info(
+            "detection inference node=%s model=%s total_frames=%s "
+            "window_frames=%s window_detections=%s hit_labels=%s "
+            "avg_inference_ms=%.2f rate_skipped=%s source=%s sequence=%s",
+            self._node_id,
+            self._spec.model_id,
+            self._processed,
+            self._log_window_frames,
+            self._log_window_detections,
+            hit_labels,
+            average_inference_ms,
+            self._skipped_rate_limit,
+            envelope.source_id,
+            envelope.sequence,
+        )
+        self._last_inference_log_ns = now_ns
+        self._log_window_frames = 0
+        self._log_window_detections = 0
+        self._log_window_inference_ms = 0.0
+        self._log_window_labels.clear()
+
+    def _filter_detections(
+        self, predicted: Sequence[Detection]
+    ) -> tuple[Detection, ...]:
+        normalized: list[Detection] = []
+        for detection in predicted:
+            if not isinstance(detection, Detection):
+                raise TypeError(
+                    f"model {self._spec.model_id!r} returned "
+                    f"{type(detection).__name__}, expected Detection"
+                )
+            if detection.label not in self._spec.supported_labels:
+                raise ValueError(
+                    f"model {self._spec.model_id!r} returned unregistered label "
+                    f"{detection.label!r}"
+                )
+            if detection.label not in self._selected_label_set:
+                continue
+            if not math.isfinite(detection.confidence) or not (
+                0.0 <= detection.confidence <= 1.0
+            ):
+                raise ValueError(
+                    f"model returned invalid confidence {detection.confidence!r}"
+                )
+            threshold = self._params.label_confidence.get(
+                detection.label, self._params.confidence
+            )
+            if detection.confidence >= threshold:
+                normalized.append(detection)
+        return tuple(normalized)
+
+
+__all__ = ["DetectionOperator", "DetectorParams"]
diff --git a/src/cmvr_edge_ai/detection/plugins.py b/src/cmvr_edge_ai/detection/plugins.py
new file mode 100644
index 0000000..0a3662c
--- /dev/null
+++ b/src/cmvr_edge_ai/detection/plugins.py
@@ -0,0 +1,62 @@
+"""Pipeline plugin registrations for model-independent detection nodes."""
+
+from __future__ import annotations
+
+from collections.abc import Mapping
+from typing import Any
+
+from cmvr_edge_ai.plugins import PluginKind, PluginRegistry, PluginSpec
+
+from .operator import DetectionOperator
+from .registry import DetectionModelRegistry
+from .rules import DetectionTriggerOperator
+from .video import VideoDecoderOperator
+
+
+def register_detection_plugins(
+    registry: PluginRegistry,
+    model_registry: DetectionModelRegistry,
+) -> None:
+    def detector_factory(node_id: str, params: Mapping[str, Any]) -> DetectionOperator:
+        return DetectionOperator(
+            node_id,
+            params,
+            model_registry=model_registry,
+        )
+
+    registry.register(
+        PluginSpec(
+            plugin_id="media.video_decoder.pyav@1",
+            kind=PluginKind.OPERATOR,
+            factory=VideoDecoderOperator,
+            inputs={"frames": "ImageFrame/v1"},
+            outputs={"frames": "ImageFrame/v1"},
+            description="Stateful H264/H265 decoder backed by optional PyAV",
+            tags=frozenset({"media", "video", "decoder"}),
+        )
+    )
+    registry.register(
+        PluginSpec(
+            plugin_id="detection.model@1",
+            kind=PluginKind.OPERATOR,
+            factory=detector_factory,
+            inputs={"frames": "ImageFrame/v1"},
+            outputs={"detections": "DetectionResult/v1"},
+            description="Run a registered object-detection model",
+            tags=frozenset({"ai", "detection", "model"}),
+        )
+    )
+    registry.register(
+        PluginSpec(
+            plugin_id="detection.repeat_gate@1",
+            kind=PluginKind.OPERATOR,
+            factory=DetectionTriggerOperator,
+            inputs={"detections": "DetectionResult/v1"},
+            outputs={"alerts": "DetectionAlert/v1"},
+            description="Emit alerts after configurable repeated frame hits",
+            tags=frozenset({"detection", "rule", "temporal"}),
+        )
+    )
+
+
+__all__ = ["register_detection_plugins"]
diff --git a/src/cmvr_edge_ai/detection/registry.py b/src/cmvr_edge_ai/detection/registry.py
new file mode 100644
index 0000000..f2bdec3
--- /dev/null
+++ b/src/cmvr_edge_ai/detection/registry.py
@@ -0,0 +1,154 @@
+"""Explicit registry for deployable object-detection model artifacts."""
+
+from __future__ import annotations
+
+from collections.abc import Callable, Mapping, Sequence
+from dataclasses import dataclass
+from importlib import metadata
+from typing import Any, cast
+
+from .base import DetectionModel
+
+
+class DetectionModelRegistryError(RuntimeError):
+    """Base class for detection model registration and lookup failures."""
+
+
+class DuplicateDetectionModelError(DetectionModelRegistryError):
+    """Raised when a model identifier is registered more than once."""
+
+
+class UnknownDetectionModelError(DetectionModelRegistryError):
+    """Raised when a requested model identifier has not been registered."""
+
+
+DetectionModelFactory = Callable[[Mapping[str, Any]], DetectionModel]
+
+
+@dataclass(frozen=True, slots=True)
+class DetectionModelSpec:
+    """Static metadata and factory for one versioned model artifact."""
+
+    model_id: str
+    name: str
+    supported_labels: tuple[str, ...]
+    factory: DetectionModelFactory
+    backend: str
+    description: str = ""
+
+    def __post_init__(self) -> None:
+        if not isinstance(self.model_id, str) or "@" not in self.model_id:
+            raise ValueError(
+                "model id must be versioned (for example detector-name@1): "
+                f"{self.model_id}"
+            )
+        identifier, version = self.model_id.rsplit("@", maxsplit=1)
+        if not identifier or not version.isdigit() or int(version) < 1:
+            raise ValueError(
+                "model id must end in a positive numeric version: " f"{self.model_id}"
+            )
+
+        if not isinstance(self.name, str) or not self.name.strip():
+            raise ValueError("model name must be a non-empty string")
+        if not isinstance(self.backend, str) or not self.backend.strip():
+            raise ValueError("model backend must be a non-empty string")
+        if not isinstance(self.description, str):
+            raise TypeError("model description must be a string")
+        if not callable(self.factory):
+            raise TypeError("detection model factory must be callable")
+
+        labels_value = self.supported_labels
+        if not isinstance(labels_value, Sequence) or isinstance(
+            labels_value, (str, bytes, bytearray)
+        ):
+            raise TypeError("supported_labels must be an ordered collection")
+        labels = tuple(labels_value)
+        if not labels:
+            raise ValueError("supported_labels must not be empty")
+
+        invalid = [
+            repr(label)
+            for label in labels
+            if not isinstance(label, str) or not label.strip()
+        ]
+        if invalid:
+            raise ValueError(
+                "supported_labels must contain non-empty strings: " + ", ".join(invalid)
+            )
+        seen: set[str] = set()
+        duplicates: list[str] = []
+        for label in labels:
+            if label in seen and label not in duplicates:
+                duplicates.append(label)
+            seen.add(label)
+        if duplicates:
+            raise ValueError(
+                "supported_labels must be unique; duplicate(s): "
+                + ", ".join(duplicates)
+            )
+
+        object.__setattr__(self, "name", self.name.strip())
+        object.__setattr__(self, "backend", self.backend.strip())
+        object.__setattr__(self, "supported_labels", labels)
+
+
+class DetectionModelRegistry:
+    """In-memory model registry with optional Python entry-point discovery."""
+
+    ENTRY_POINT_GROUP = "cmvr_edge_ai.detection_models"
+
+    def __init__(self) -> None:
+        self._models: dict[str, DetectionModelSpec] = {}
+
+    def register(self, spec: DetectionModelSpec) -> DetectionModelSpec:
+        if not isinstance(spec, DetectionModelSpec):
+            raise TypeError("detection model registry accepts DetectionModelSpec")
+        if spec.model_id in self._models:
+            raise DuplicateDetectionModelError(
+                f"detection model already registered: {spec.model_id}"
+            )
+        self._models[spec.model_id] = spec
+        return spec
+
+    def resolve(self, model_id: str) -> DetectionModelSpec:
+        try:
+            return self._models[model_id]
+        except KeyError as exc:
+            available = ", ".join(sorted(self._models)) or "<none>"
+            raise UnknownDetectionModelError(
+                f"unknown detection model {model_id!r}; available models: {available}"
+            ) from exc
+
+    def specs(self) -> tuple[DetectionModelSpec, ...]:
+        return tuple(self._models[key] for key in sorted(self._models))
+
+    def load_entry_points(self) -> None:
+        """Load model specs or registration callbacks from installed packages."""
+
+        discovered = cast(Any, metadata.entry_points())
+        selected = (
+            discovered.select(group=self.ENTRY_POINT_GROUP)
+            if hasattr(discovered, "select")
+            else discovered.get(self.ENTRY_POINT_GROUP, ())
+        )
+        for entry_point in selected:
+            loaded = entry_point.load()
+            if isinstance(loaded, DetectionModelSpec):
+                self.register(loaded)
+            elif callable(loaded):
+                loaded(self)
+            else:
+                raise DetectionModelRegistryError(
+                    f"entry point {entry_point.name!r} must expose "
+                    "DetectionModelSpec or a registry callback"
+                )
+
+
+__all__ = [
+    "DetectionModelFactory",
+    "DetectionModelRegistry",
+    "DetectionModelRegistryError",
+    "DetectionModelSpec",
+    "DuplicateDetectionModelError",
+    "UnknownDetectionModelError",
+]
diff --git a/src/cmvr_edge_ai/detection/rules.py b/src/cmvr_edge_ai/detection/rules.py
new file mode 100644
index 0000000..5bf9685
--- /dev/null
+++ b/src/cmvr_edge_ai/detection/rules.py
@@ -0,0 +1,661 @@
+"""Stateful temporal rules for normalized object-detection results."""
+
+from __future__ import annotations
+
+from collections import deque
+from collections.abc import Mapping, Sequence
+from concurrent.futures import Executor
+from dataclasses import dataclass, field, replace
+import logging
+import math
+from typing import Any, Literal, cast
+from uuid import uuid4
+
+from cmvr_edge_ai.contracts import (
+    BoundingBox,
+    Detection,
+    DetectionAlert,
+    DetectionResult,
+    EncodedImage,
+    ImageFrame,
+)
+from cmvr_edge_ai.core import ComponentContext, Emission, Envelope, HealthReport, Operator
+from cmvr_edge_ai.workers import run_blocking
+
+from .annotation import ensure_annotation_support, render_annotated_jpeg
+
+
+TimeSource = Literal["auto", "captured", "received"]
+RuleScope = Literal["source", "track"]
+FrameKey = tuple[str, int]
+StateKey = tuple[str, str, str]
+
+
+_LOGGER = logging.getLogger(__name__)
+
+
+@dataclass(frozen=True, slots=True)
+class DetectionTriggerRule:
+    """Validated deployment rule used by :class:`DetectionTriggerOperator`."""
+
+    rule_id: str
+    labels: tuple[str, ...]
+    min_hits: int
+    window_ms: float
+    cooldown_ms: float
+    min_confidence: float
+    scope: RuleScope
+
+    @property
+    def window_ns(self) -> int:
+        return int(self.window_ms * 1_000_000)
+
+    @property
+    def cooldown_ns(self) -> int:
+        return int(self.cooldown_ms * 1_000_000)
+
+
+@dataclass(frozen=True, slots=True)
+class AlertImageOptions:
+    enabled: bool = False
+    jpeg_quality: int = 85
+
+
+@dataclass(frozen=True, slots=True)
+class _Hit:
+    timestamp_ns: int
+    labels: tuple[str, ...]
+    max_confidence: float
+
+
+@dataclass(slots=True)
+class _TriggerState:
+    hits: deque[_Hit] = field(default_factory=deque)
+    # Kept independently from ``hits`` so replaying the threshold frame cannot
+    # immediately retrigger a zero-cooldown rule after its hit window resets.
+    seen_frames: dict[FrameKey, int] = field(default_factory=dict)
+    cooldown_until_ns: int | None = None
+    last_observed_ns: int | None = None
+
+
+class DetectionTriggerOperator(Operator):
+    """Emit alerts after distinct frames satisfy temporal detection rules.
+
+    A hit is one matching *frame* for one rule and scope, regardless of how
+    many matching boxes that frame contains.  Source-scoped rules aggregate a
+    camera stream.  Track-scoped rules maintain independent windows per
+    ``track_id`` and ignore detections for which no track ID is available.
+
+    Once a rule triggers, its hit window is cleared.  Frames observed during
+    cooldown are deliberately not accumulated; a fresh ``min_hits`` must be
+    observed after cooldown expires.  Recent frame identities remain cached
+    for one window to prevent duplicate/replayed envelopes from being counted.
+    """
+
+    _PARAM_KEYS = frozenset({"rules", "time_source", "alert_image"})
+    _RULE_KEYS = frozenset(
+        {
+            "id",
+            "labels",
+            "min_hits",
+            "window_ms",
+            "cooldown_ms",
+            "min_confidence",
+            "scope",
+        }
+    )
+
+    def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
+        if not isinstance(params, Mapping):
+            raise TypeError("detection trigger params must be a mapping")
+        unknown = set(params) - self._PARAM_KEYS
+        if unknown:
+            raise ValueError(
+                "unknown detection trigger parameter(s): "
+                + ", ".join(sorted(str(item) for item in unknown))
+            )
+
+        self._node_id = node_id
+        self._time_source = _parse_time_source(params.get("time_source", "auto"))
+        self._alert_image = _parse_alert_image(params.get("alert_image"))
+        self._rules = _parse_rules(params.get("rules"))
+        self._rules_by_id = {rule.rule_id: rule for rule in self._rules}
+        self._states: dict[StateKey, _TriggerState] = {}
+        self._executor: Executor | None = None
+
+        self._processed_frames = 0
+        self._alerts_emitted = 0
+        self._cooldown_suppressed = 0
+        self._duplicate_frames = 0
+        self._stale_frames = 0
+        self._untracked_detections = 0
+        self._invalid_detections = 0
+        self._alert_images_encoded = 0
+        self._alert_images_attached = 0
+        self._alert_image_missing_frames = 0
+        self._alert_image_failures = 0
+
+    @property
+    def rules(self) -> tuple[DetectionTriggerRule, ...]:
+        """Return the immutable, validated rules (primarily for diagnostics)."""
+
+        return self._rules
+
+    @property
+    def alert_image_enabled(self) -> bool:
+        return self._alert_image.enabled
+
+    async def setup(self, context: ComponentContext) -> None:
+        executor = context.metadata.get("thread_executor")
+        if executor is not None and not isinstance(executor, Executor):
+            raise TypeError("component context thread_executor is not an Executor")
+        self._executor = executor
+        if self._alert_image.enabled:
+            # Configuration errors should be discovered before camera traffic
+            # starts, while individual corrupt frames remain fail-soft below.
+            ensure_annotation_support()
+
+    async def process(
+        self,
+        envelope: Envelope[Any],
+        input_port: str = "input",
+    ) -> tuple[Emission, ...] | None:
+        del input_port
+        result = envelope.payload
+        if not isinstance(result, DetectionResult):
+            raise TypeError(
+                f"{self._node_id} expected DetectionResult, "
+                f"got {type(result).__name__}"
+            )
+
+        timestamp_ns = self._timestamp_for(envelope)
+        self._processed_frames += 1
+        frame_key = (envelope.source_id, envelope.sequence)
+        emissions: list[Emission] = []
+        detections, invalid_count = _wire_safe_detections(result.detections)
+        if invalid_count:
+            self._invalid_detections += invalid_count
+            _LOGGER.warning(
+                "ignored invalid detections node=%s source=%s sequence=%s count=%s",
+                self._node_id,
+                envelope.source_id,
+                envelope.sequence,
+                invalid_count,
+            )
+
+        for rule in self._rules:
+            matching = _matching_detections(detections, rule)
+            if not matching:
+                continue
+
+            if rule.scope == "source":
+                emission = self._observe(
+                    rule=rule,
+                    scope_id=envelope.source_id,
+                    source_id=envelope.source_id,
+                    frame_key=frame_key,
+                    timestamp_ns=timestamp_ns,
+                    detections=matching,
+                    result=result,
+                    envelope=envelope,
+                )
+                if emission is not None:
+                    emissions.append(emission)
+                continue
+
+            by_track: dict[str, list[Detection]] = {}
+            for detection in matching:
+                if detection.track_id is None or not str(detection.track_id):
+                    self._untracked_detections += 1
+                    continue
+                by_track.setdefault(str(detection.track_id), []).append(detection)
+            for track_id, track_detections in by_track.items():
+                emission = self._observe(
+                    rule=rule,
+                    scope_id=track_id,
+                    source_id=envelope.source_id,
+                    frame_key=frame_key,
+                    timestamp_ns=timestamp_ns,
+                    detections=tuple(track_detections),
+                    result=result,
+                    envelope=envelope,
+                )
+                if emission is not None:
+                    emissions.append(emission)
+
+        self._prune_inactive_states(timestamp_ns)
+        if emissions and self._alert_image.enabled:
+            emissions = await self._attach_alert_image(
+                emissions,
+                result.source_frame,
+                envelope,
+            )
+        return tuple(emissions) if emissions else None
+
+    async def stop(self) -> None:
+        self._executor = None
+
+    async def health(self) -> HealthReport:
+        return HealthReport(
+            not (
+                self._invalid_detections > 0
+                or (
+                    self._alert_image.enabled
+                    and (
+                        self._alert_image_missing_frames > 0
+                        or self._alert_image_failures > 0
+                    )
+                )
+            ),
+            " ".join(
+                (
+                    f"processed_frames={self._processed_frames}",
+                    f"alerts_emitted={self._alerts_emitted}",
+                    f"cooldown_suppressed={self._cooldown_suppressed}",
+                    f"duplicate_frames={self._duplicate_frames}",
+                    f"stale_frames={self._stale_frames}",
+                    f"untracked_detections={self._untracked_detections}",
+                    f"invalid_detections={self._invalid_detections}",
+                    f"alert_images_encoded={self._alert_images_encoded}",
+                    f"alert_images_attached={self._alert_images_attached}",
+                    f"alert_image_missing_frames={self._alert_image_missing_frames}",
+                    f"alert_image_failures={self._alert_image_failures}",
+                    f"active_states={len(self._states)}",
+                )
+            ),
+        )
+
+    async def _attach_alert_image(
+        self,
+        emissions: list[Emission],
+        frame: ImageFrame | None,
+        source_envelope: Envelope[Any],
+    ) -> list[Emission]:
+        if frame is None:
+            self._alert_image_missing_frames += 1
+            _LOGGER.warning(
+                "detection alert image omitted node=%s source=%s sequence=%s: "
+                "DetectionResult has no source_frame",
+                self._node_id,
+                source_envelope.source_id,
+                source_envelope.sequence,
+            )
+            return emissions
+
+        # Multiple rules/tracks can trigger from the same threshold frame.  A
+        # single union image bounds edge CPU and memory while retaining every
+        # box relevant to at least one emitted alert.
+        unique_detections: list[Detection] = []
+        for emission in emissions:
+            alert = emission.envelope.payload
+            if not isinstance(alert, DetectionAlert):
+                continue
+            for detection in alert.detections:
+                if detection not in unique_detections:
+                    unique_detections.append(detection)
+
+        try:
+            image = await run_blocking(
+                render_annotated_jpeg,
+                frame,
+                tuple(unique_detections),
+                jpeg_quality=self._alert_image.jpeg_quality,
+                executor=self._executor,
+            )
+            if not isinstance(image, EncodedImage):
+                raise TypeError(
+                    "alert image renderer returned "
+                    f"{type(image).__name__}, expected EncodedImage"
+                )
+        except Exception:
+            self._alert_image_failures += 1
+            _LOGGER.warning(
+                "detection alert image rendering failed node=%s source=%s "
+                "sequence=%s; sending structured alert without image",
+                self._node_id,
+                source_envelope.source_id,
+                source_envelope.sequence,
+                exc_info=True,
+            )
+            return emissions
+
+        updated: list[Emission] = []
+        for emission in emissions:
+            alert = emission.envelope.payload
+            if not isinstance(alert, DetectionAlert):
+                updated.append(emission)
+                continue
+            updated.append(
+                Emission(
+                    emission.port,
+                    emission.envelope.with_payload(replace(alert, image=image)),
+                )
+            )
+        self._alert_images_encoded += 1
+        self._alert_images_attached += len(updated)
+        return updated
+
+    def _timestamp_for(self, envelope: Envelope[Any]) -> int:
+        if self._time_source == "captured":
+            if envelope.captured_at_ns is None:
+                raise ValueError(
+                    f"{self._node_id} requires captured_at_ns when "
+                    "time_source='captured'"
+                )
+            return envelope.captured_at_ns
+        if self._time_source == "received":
+            return envelope.received_at_ns
+        return (
+            envelope.captured_at_ns
+            if envelope.captured_at_ns is not None
+            else envelope.received_at_ns
+        )
+
+    def _observe(
+        self,
+        *,
+        rule: DetectionTriggerRule,
+        scope_id: str,
+        source_id: str,
+        frame_key: FrameKey,
+        timestamp_ns: int,
+        detections: tuple[Detection, ...],
+        result: DetectionResult,
+        envelope: Envelope[Any],
+    ) -> Emission | None:
+        state_key = (rule.rule_id, source_id, scope_id)
+        state = self._states.setdefault(state_key, _TriggerState())
+
+        if state.last_observed_ns is not None and timestamp_ns < state.last_observed_ns:
+            self._stale_frames += 1
+            return None
+        state.last_observed_ns = timestamp_ns
+        self._evict_old_entries(state, rule, timestamp_ns)
+
+        if frame_key in state.seen_frames:
+            self._duplicate_frames += 1
+            return None
+        state.seen_frames[frame_key] = timestamp_ns
+
+        if (
+            state.cooldown_until_ns is not None
+            and timestamp_ns < state.cooldown_until_ns
+        ):
+            self._cooldown_suppressed += 1
+            return None
+        if state.cooldown_until_ns is not None:
+            state.cooldown_until_ns = None
+            state.hits.clear()
+
+        present_labels = {detection.label for detection in detections}
+        hit_labels = tuple(label for label in rule.labels if label in present_labels)
+        hit = _Hit(
+            timestamp_ns=timestamp_ns,
+            labels=hit_labels,
+            max_confidence=max(detection.confidence for detection in detections),
+        )
+        state.hits.append(hit)
+        if len(state.hits) < rule.min_hits:
+            return None
+
+        hits = tuple(state.hits)
+        labels_seen = {label for item in hits for label in item.labels}
+        alert = DetectionAlert(
+            event_id=uuid4().hex,
+            rule_id=rule.rule_id,
+            model_id=result.model_id,
+            model_name=result.model_name or result.model_id,
+            labels=tuple(label for label in rule.labels if label in labels_seen),
+            scope=rule.scope,
+            scope_id=scope_id,
+            hit_count=len(hits),
+            window_ms=rule.window_ms,
+            first_seen_ns=hits[0].timestamp_ns,
+            last_seen_ns=hits[-1].timestamp_ns,
+            triggered_at_ns=timestamp_ns,
+            max_confidence=max(item.max_confidence for item in hits),
+            # Only boxes from the threshold frame are attached.  Retaining all
+            # boxes from every hit would multiply memory and HTTP payload size.
+            detections=detections,
+        )
+        state.hits.clear()
+        state.cooldown_until_ns = timestamp_ns + rule.cooldown_ns
+        self._alerts_emitted += 1
+        return Emission(
+            "alerts",
+            envelope.with_payload(
+                alert,
+                schema_name="DetectionAlert",
+                schema_version=1,
+            ),
+        )
+
+    @staticmethod
+    def _evict_old_entries(
+        state: _TriggerState,
+        rule: DetectionTriggerRule,
+        timestamp_ns: int,
+    ) -> None:
+        cutoff_ns = timestamp_ns - rule.window_ns
+        # The window is inclusive at its lower boundary: an observation exactly
+        # ``window_ms`` old remains eligible.
+        while state.hits and state.hits[0].timestamp_ns < cutoff_ns:
+            state.hits.popleft()
+        expired_frames = [
+            key for key, seen_ns in state.seen_frames.items() if seen_ns < cutoff_ns
+        ]
+        for key in expired_frames:
+            del state.seen_frames[key]
+
+    def _prune_inactive_states(self, timestamp_ns: int) -> None:
+        expired: list[StateKey] = []
+        for key, state in self._states.items():
+            rule = self._rules_by_id[key[0]]
+            if state.last_observed_ns is None or timestamp_ns < state.last_observed_ns:
+                continue
+            self._evict_old_entries(state, rule, timestamp_ns)
+            if (
+                state.cooldown_until_ns is not None
+                and timestamp_ns >= state.cooldown_until_ns
+            ):
+                state.cooldown_until_ns = None
+            if (
+                not state.hits
+                and not state.seen_frames
+                and state.cooldown_until_ns is None
+                and timestamp_ns - state.last_observed_ns > rule.window_ns
+            ):
+                expired.append(key)
+        for key in expired:
+            del self._states[key]
+
+
+def _parse_time_source(value: Any) -> TimeSource:
+    if not isinstance(value, str) or value not in {"auto", "captured", "received"}:
+        raise ValueError("time_source must be one of: auto, captured, received")
+    return cast(TimeSource, value)
+
+
+def _parse_alert_image(value: Any) -> AlertImageOptions:
+    if value is None:
+        return AlertImageOptions()
+    if not isinstance(value, Mapping):
+        raise ValueError("alert_image must be a mapping")
+    unknown = set(value) - {"enabled", "jpeg_quality"}
+    if unknown:
+        raise ValueError(
+            "alert_image has unknown field(s): "
+            + ", ".join(sorted(str(item) for item in unknown))
+        )
+    enabled = value.get("enabled", False)
+    if not isinstance(enabled, bool):
+        raise ValueError("alert_image.enabled must be a boolean")
+    jpeg_quality = _strict_int(
+        value.get("jpeg_quality", 85), "alert_image.jpeg_quality"
+    )
+    if not 1 <= jpeg_quality <= 95:
+        raise ValueError("alert_image.jpeg_quality must be between 1 and 95")
+    return AlertImageOptions(enabled=enabled, jpeg_quality=jpeg_quality)
+
+
+def _parse_rules(value: Any) -> tuple[DetectionTriggerRule, ...]:
+    if not isinstance(value, Sequence) or isinstance(value, (str, bytes)):
+        raise ValueError("rules must be a non-empty list")
+    if not value:
+        raise ValueError("rules must be a non-empty list")
+
+    parsed: list[DetectionTriggerRule] = []
+    seen_ids: set[str] = set()
+    for index, raw_rule in enumerate(value):
+        path = f"rules[{index}]"
+        if not isinstance(raw_rule, Mapping):
+            raise ValueError(f"{path} must be a mapping")
+        unknown = set(raw_rule) - DetectionTriggerOperator._RULE_KEYS
+        if unknown:
+            raise ValueError(
+                f"{path} has unknown field(s): "
+                + ", ".join(sorted(str(item) for item in unknown))
+            )
+
+        rule_id = _non_empty_string(raw_rule.get("id"), f"{path}.id")
+        if rule_id in seen_ids:
+            raise ValueError(f"duplicate detection rule id: {rule_id}")
+        seen_ids.add(rule_id)
+
+        labels_value = raw_rule.get("labels")
+        if not isinstance(labels_value, Sequence) or isinstance(
+            labels_value, (str, bytes)
+        ):
+            raise ValueError(f"{path}.labels must be a non-empty list")
+        labels = tuple(
+            _non_empty_string(label, f"{path}.labels[{label_index}]")
+            for label_index, label in enumerate(labels_value)
+        )
+        if not labels:
+            raise ValueError(f"{path}.labels must be a non-empty list")
+        if len(set(labels)) != len(labels):
+            raise ValueError(f"{path}.labels must not contain duplicates")
+
+        min_hits = _strict_int(raw_rule.get("min_hits"), f"{path}.min_hits")
+        if min_hits < 1:
+            raise ValueError(f"{path}.min_hits must be at least 1")
+        window_ms = _finite_number(raw_rule.get("window_ms"), f"{path}.window_ms")
+        if window_ms <= 0 or int(window_ms * 1_000_000) < 1:
+            raise ValueError(f"{path}.window_ms must be positive")
+        cooldown_ms = _finite_number(
+            raw_rule.get("cooldown_ms", 0.0), f"{path}.cooldown_ms"
+        )
+        if cooldown_ms < 0:
+            raise ValueError(f"{path}.cooldown_ms must not be negative")
+        min_confidence = _finite_number(
+            raw_rule.get("min_confidence", 0.0), f"{path}.min_confidence"
+        )
+        if not 0.0 <= min_confidence <= 1.0:
+            raise ValueError(f"{path}.min_confidence must be between 0 and 1")
+        scope = raw_rule.get("scope", "source")
+        if not isinstance(scope, str) or scope not in {"source", "track"}:
+            raise ValueError(f"{path}.scope must be 'source' or 'track'")
+
+        parsed.append(
+            DetectionTriggerRule(
+                rule_id=rule_id,
+                labels=labels,
+                min_hits=min_hits,
+                window_ms=window_ms,
+                cooldown_ms=cooldown_ms,
+                min_confidence=min_confidence,
+                scope=cast(RuleScope, scope),
+            )
+        )
+    return tuple(parsed)
+
+
+def _matching_detections(
+    detections: tuple[Detection, ...], rule: DetectionTriggerRule
+) -> tuple[Detection, ...]:
+    labels = set(rule.labels)
+    matching: list[Detection] = []
+    for detection in detections:
+        if not isinstance(detection, Detection):
+            raise TypeError(
+                "DetectionResult.detections must contain Detection instances"
+            )
+        if not math.isfinite(detection.confidence):
+            raise ValueError("detection confidence must be finite")
+        if detection.label in labels and detection.confidence >= rule.min_confidence:
+            matching.append(detection)
+    return tuple(matching)
+
+
+def _wire_safe_detections(
+    detections: tuple[Detection, ...],
+) -> tuple[tuple[Detection, ...], int]:
+    """Drop malformed items that could make an entire JSON alert unsendable."""
+
+    valid: list[Detection] = []
+    invalid_count = 0
+    for detection in detections:
+        if not isinstance(detection, Detection):
+            raise TypeError(
+                "DetectionResult.detections must contain Detection instances"
+            )
+        if not _wire_safe_detection(detection):
+            invalid_count += 1
+            continue
+        valid.append(detection)
+    return tuple(valid), invalid_count
+
+
+def _wire_safe_detection(detection: Detection) -> bool:
+    if not isinstance(detection.label, str) or not detection.label:
+        return False
+    if (
+        isinstance(detection.confidence, bool)
+        or not isinstance(detection.confidence, (int, float))
+        or not math.isfinite(float(detection.confidence))
+        or not 0.0 <= float(detection.confidence) <= 1.0
+    ):
+        return False
+    if detection.track_id is not None and not isinstance(detection.track_id, str):
+        return False
+    if not isinstance(detection.box, BoundingBox):
+        return False
+    coordinates = (
+        detection.box.x_min,
+        detection.box.y_min,
+        detection.box.x_max,
+        detection.box.y_max,
+    )
+    if any(
+        isinstance(value, bool)
+        or not isinstance(value, (int, float))
+        or not math.isfinite(float(value))
+        for value in coordinates
+    ):
+        return False
+    x_min, y_min, x_max, y_max = (float(value) for value in coordinates)
+    return x_max > x_min and y_max > y_min
+
+
+def _non_empty_string(value: Any, path: str) -> str:
+    if not isinstance(value, str) or not value.strip():
+        raise ValueError(f"{path} must be a non-empty string")
+    return value.strip()
+
+
+def _strict_int(value: Any, path: str) -> int:
+    if isinstance(value, bool) or not isinstance(value, int):
+        raise ValueError(f"{path} must be an integer")
+    return value
+
+
+def _finite_number(value: Any, path: str) -> float:
+    if isinstance(value, bool) or not isinstance(value, (int, float)):
+        raise ValueError(f"{path} must be a number")
+    parsed = float(value)
+    if not math.isfinite(parsed):
+        raise ValueError(f"{path} must be finite")
+    return parsed
+
+
+__all__ = ["AlertImageOptions", "DetectionTriggerOperator", "DetectionTriggerRule"]
diff --git a/src/cmvr_edge_ai/detection/video.py b/src/cmvr_edge_ai/detection/video.py
new file mode 100644
index 0000000..29976c8
--- /dev/null
+++ b/src/cmvr_edge_ai/detection/video.py
@@ -0,0 +1,319 @@
+"""Stateful decoding of encoded camera packets into raw image frames.
+
+The framework keeps the concrete FFmpeg dependency optional.  Importing this
+module therefore never imports PyAV; the default backend does so lazily when
+the first encoded key frame is received.  Tests and alternative deployments
+can inject another backend through ``backend_factory``.
+"""
+
+from __future__ import annotations
+
+import threading
+from collections.abc import Callable, Iterable, Mapping
+from concurrent.futures import Executor
+from dataclasses import dataclass
+from importlib import import_module
+from typing import Any, Protocol
+
+from cmvr_edge_ai.contracts import ImageFrame
+from cmvr_edge_ai.core.component import (
+    ComponentContext,
+    Emission,
+    HealthReport,
+    Operator,
+)
+from cmvr_edge_ai.core.envelope import Envelope
+from cmvr_edge_ai.workers.thread import run_blocking
+
+
+class VideoDecodeError(RuntimeError):
+    """A recoverable malformed/discontinuous encoded-video packet."""
+
+
+@dataclass(frozen=True, slots=True)
+class DecodedVideoFrame:
+    """One packed image produced by a decoder backend."""
+
+    data: bytes
+    width: int
+    height: int
+    pixel_format: str = "BGR8"
+
+    def __post_init__(self) -> None:
+        if not isinstance(self.data, bytes):
+            raise TypeError("decoded video frame data must be bytes")
+        if self.width <= 0 or self.height <= 0:
+            raise ValueError("decoded video frame dimensions must be positive")
+        if not isinstance(self.pixel_format, str) or not self.pixel_format.strip():
+            raise ValueError("decoded video frame pixel_format must not be empty")
+
+
+class VideoDecoderBackend(Protocol):
+    """Synchronous stateful decoder owned by one operator instance."""
+
+    def decode(self, data: bytes) -> Iterable[DecodedVideoFrame]:
+        """Consume one encoded packet and return zero or more complete images."""
+
+    def close(self) -> None:
+        """Release native decoder resources; implementations must be idempotent."""
+
+
+VideoDecoderBackendFactory = Callable[[str], VideoDecoderBackend]
+
+
+class _PyAvDecoderBackend:
+    """Default Annex-B H.264/H.265 decoder backed by optional PyAV."""
+
+    def __init__(self, codec: str) -> None:
+        try:
+            av = import_module("av")
+        except ImportError as exc:
+            raise RuntimeError(
+                "PyAV is required to decode encoded video; install the optional "
+                "video dependencies (for example: pip install -e '.[video]')"
+            ) from exc
+
+        self._av = av
+        self._codec: Any = av.CodecContext.create(codec, "r")
+
+    def decode(self, data: bytes) -> tuple[DecodedVideoFrame, ...]:
+        if self._codec is None:
+            raise RuntimeError("video decoder backend is closed")
+        try:
+            frames = self._codec.decode(self._av.Packet(data))
+        except Exception as exc:
+            ffmpeg_error = getattr(
+                getattr(self._av, "error", None), "FFmpegError", None
+            )
+            if isinstance(ffmpeg_error, type) and isinstance(exc, ffmpeg_error):
+                raise VideoDecodeError(str(exc)) from exc
+            raise
+
+        decoded: list[DecodedVideoFrame] = []
+        for frame in frames:
+            image = frame.to_ndarray(format="bgr24")
+            decoded.append(
+                DecodedVideoFrame(
+                    data=image.tobytes(order="C"),
+                    width=int(frame.width),
+                    height=int(frame.height),
+                    pixel_format="BGR8",
+                )
+            )
+        return tuple(decoded)
+
+    def close(self) -> None:
+        # PyAV CodecContext does not expose a stable explicit close API across
+        # supported versions.  Dropping the final reference releases it.
+        self._codec = None
+
+
+class VideoDecoderOperator(Operator):
+    """Decode one encoded stream while recovering at key-frame boundaries.
+
+    A decoder context is valid only for one source/session/codec/dimension
+    identity and a continuous sequence.  Any identity change or sequence gap
+    closes that context and suppresses packets until the next key frame.  Raw
+    frames are emitted unchanged and never import the optional decoder library.
+    """
+
+    def __init__(
+        self,
+        node_id: str,
+        params: Mapping[str, Any],
+        *,
+        backend_factory: VideoDecoderBackendFactory | None = None,
+    ) -> None:
+        if not isinstance(node_id, str) or not node_id.strip():
+            raise ValueError("video decoder node_id must not be empty")
+        if params:
+            unknown = ", ".join(sorted(str(key) for key in params))
+            raise ValueError(f"video decoder does not support parameters: {unknown}")
+
+        self._node_id = node_id
+        self._backend_factory = backend_factory or _PyAvDecoderBackend
+        self._backend: VideoDecoderBackend | None = None
+        self._backend_codec: str | None = None
+        self._backend_lock = threading.Lock()
+        self._executor: Executor | None = None
+        self._stream_identity: tuple[str, str | None, str, int, int] | None = None
+        self._last_sequence: int | None = None
+        self._waiting_for_keyframe = True
+        self._decoded_frames = 0
+        self._dropped_until_keyframe = 0
+        self._resets = 0
+        self._decode_errors = 0
+
+    async def setup(self, context: ComponentContext) -> None:
+        executor = context.metadata.get("thread_executor")
+        if executor is not None and not isinstance(executor, Executor):
+            raise TypeError("component context thread_executor must be an Executor")
+        self._executor = executor
+
+    async def process(
+        self,
+        envelope: Envelope[Any],
+        input_port: str = "input",
+    ) -> Emission | tuple[Emission, ...] | None:
+        del input_port
+        payload = envelope.payload
+        if not isinstance(payload, ImageFrame):
+            raise TypeError(
+                f"{self._node_id} expected ImageFrame, got " f"{type(payload).__name__}"
+            )
+
+        codec = _normalize_codec(payload.codec)
+        if codec is None:
+            if self._stream_identity is not None or self._backend is not None:
+                await self._reset_stream()
+            return Emission("frames", envelope)
+
+        if payload.width <= 0 or payload.height <= 0:
+            raise ValueError("encoded image dimensions must be positive")
+        if not payload.data:
+            raise ValueError("encoded image data must not be empty")
+
+        identity = (
+            envelope.source_id,
+            envelope.session_id,
+            codec,
+            payload.width,
+            payload.height,
+        )
+        identity_changed = self._stream_identity != identity
+        sequence_gap = (
+            not identity_changed
+            and self._last_sequence is not None
+            and envelope.sequence != self._last_sequence + 1
+        )
+        if identity_changed or sequence_gap:
+            await self._reset_stream(identity=identity)
+
+        self._stream_identity = identity
+        self._last_sequence = envelope.sequence
+        if self._waiting_for_keyframe and not payload.is_key_frame:
+            self._dropped_until_keyframe += 1
+            return None
+
+        try:
+            frames = await run_blocking(
+                self._decode_sync,
+                codec,
+                payload.data,
+                executor=self._executor,
+            )
+        except VideoDecodeError:
+            self._decode_errors += 1
+            await self._reset_stream(identity=identity)
+            self._last_sequence = envelope.sequence
+            return None
+
+        # A successfully accepted key frame establishes decoder continuity even
+        # when FFmpeg buffers it and returns no image until a later packet.
+        self._waiting_for_keyframe = False
+        emissions: list[Emission] = []
+        for frame in frames:
+            decoded = ImageFrame(
+                data=frame.data,
+                width=frame.width,
+                height=frame.height,
+                pixel_format=frame.pixel_format,
+                codec="none",
+                is_key_frame=False,
+                intrinsics=payload.intrinsics,
+            )
+            emissions.append(
+                Emission(
+                    "frames",
+                    envelope.with_payload(
+                        decoded,
+                        schema_name="ImageFrame",
+                        schema_version=1,
+                    ),
+                )
+            )
+        self._decoded_frames += len(emissions)
+        return tuple(emissions) if emissions else None
+
+    async def stop(self) -> None:
+        await self._reset_stream(count_reset=False)
+        self._executor = None
+
+    async def health(self) -> HealthReport:
+        return HealthReport(
+            True,
+            "decoded_frames={} dropped_until_keyframe={} resets={} "
+            "decode_errors={} waiting_for_keyframe={}".format(
+                self._decoded_frames,
+                self._dropped_until_keyframe,
+                self._resets,
+                self._decode_errors,
+                self._waiting_for_keyframe,
+            ),
+        )
+
+    async def _reset_stream(
+        self,
+        *,
+        identity: tuple[str, str | None, str, int, int] | None = None,
+        count_reset: bool = True,
+    ) -> None:
+        had_state = self._stream_identity is not None or self._backend is not None
+        if had_state:
+            # Always synchronize with the backend lock once a stream exists.
+            # If an awaited executor call was cancelled while native decoding
+            # continued, checking only ``self._backend`` here could race before
+            # the worker publishes the newly-created backend and leak it.
+            await run_blocking(self._close_backend_sync, executor=self._executor)
+        self._stream_identity = identity
+        self._last_sequence = None
+        self._waiting_for_keyframe = True
+        if count_reset and had_state:
+            self._resets += 1
+
+    def _decode_sync(
+        self,
+        codec: str,
+        data: bytes,
+    ) -> tuple[DecodedVideoFrame, ...]:
+        with self._backend_lock:
+            if self._backend is None:
+                self._backend = self._backend_factory(codec)
+                self._backend_codec = codec
+            elif self._backend_codec != codec:
+                # The async state machine normally closes it first.  Retain a
+                # defensive guard in case this helper is reused independently.
+                self._backend.close()
+                self._backend = self._backend_factory(codec)
+                self._backend_codec = codec
+            return tuple(self._backend.decode(data))
+
+    def _close_backend_sync(self) -> None:
+        with self._backend_lock:
+            backend = self._backend
+            self._backend = None
+            self._backend_codec = None
+            if backend is not None:
+                backend.close()
+
+
+def _normalize_codec(value: str) -> str | None:
+    if not isinstance(value, str):
+        raise TypeError("image codec must be a string")
+    codec = value.strip().lower().lstrip(".")
+    if codec in {"", "none", "raw"}:
+        return None
+    if codec in {"h264", "avc", "avc1"}:
+        return "h264"
+    if codec in {"h265", "hevc", "hev1", "hvc1"}:
+        return "hevc"
+    raise ValueError(f"unsupported encoded video codec: {value!r}")
+
+
+__all__ = [
+    "DecodedVideoFrame",
+    "VideoDecodeError",
+    "VideoDecoderBackend",
+    "VideoDecoderBackendFactory",
+    "VideoDecoderOperator",
+]
diff --git a/src/cmvr_edge_ai/observability/__init__.py b/src/cmvr_edge_ai/observability/__init__.py
new file mode 100644
index 0000000..10eaf99
--- /dev/null
+++ b/src/cmvr_edge_ai/observability/__init__.py
@@ -0,0 +1,5 @@
+"""Health, logging and metrics helpers."""
+
+from .logging import JsonFormatter, configure_logging
+
+__all__ = ["JsonFormatter", "configure_logging"]
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diff --git a/src/cmvr_edge_ai/observability/logging.py b/src/cmvr_edge_ai/observability/logging.py
new file mode 100644
index 0000000..de06e0d
--- /dev/null
+++ b/src/cmvr_edge_ai/observability/logging.py
@@ -0,0 +1,36 @@
+"""Low-overhead text or JSON logging setup."""
+
+from __future__ import annotations
+
+import json
+import logging
+from datetime import datetime, timezone
+from typing import Any
+
+
+class JsonFormatter(logging.Formatter):
+    def format(self, record: logging.LogRecord) -> str:
+        payload: dict[str, Any] = {
+            "timestamp": datetime.now(timezone.utc).isoformat(),
+            "level": record.levelname,
+            "logger": record.name,
+            "message": record.getMessage(),
+        }
+        if record.exc_info:
+            payload["exception"] = self.formatException(record.exc_info)
+        return json.dumps(payload, ensure_ascii=False, separators=(",", ":"))
+
+
+def configure_logging(level: str = "INFO", log_format: str = "text") -> None:
+    handler = logging.StreamHandler()
+    if log_format == "json":
+        handler.setFormatter(JsonFormatter())
+    elif log_format == "text":
+        handler.setFormatter(
+            logging.Formatter("%(asctime)s %(levelname)s %(name)s %(message)s")
+        )
+    else:
+        raise ValueError("log_format must be 'text' or 'json'")
+    logging.basicConfig(
+        level=getattr(logging, level.upper()), handlers=[handler], force=True
+    )
diff --git a/src/cmvr_edge_ai/plugins/__init__.py b/src/cmvr_edge_ai/plugins/__init__.py
new file mode 100644
index 0000000..8542898
--- /dev/null
+++ b/src/cmvr_edge_ai/plugins/__init__.py
@@ -0,0 +1,23 @@
+"""Plugin discovery and registration."""
+
+from .registry import (
+    DuplicatePluginError,
+    PluginError,
+    PluginKind,
+    PluginRegistry,
+    PluginSpec,
+    UnknownPluginError,
+    schemas_compatible,
+)
+from .builtin import register_builtin_plugins
+
+__all__ = [
+    "DuplicatePluginError",
+    "PluginError",
+    "PluginKind",
+    "PluginRegistry",
+    "PluginSpec",
+    "UnknownPluginError",
+    "schemas_compatible",
+    "register_builtin_plugins",
+]
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diff --git a/src/cmvr_edge_ai/plugins/builtin.py b/src/cmvr_edge_ai/plugins/builtin.py
new file mode 100644
index 0000000..497c1c0
--- /dev/null
+++ b/src/cmvr_edge_ai/plugins/builtin.py
@@ -0,0 +1,296 @@
+"""Small built-in plugins used for smoke tests and control boundaries."""
+
+from __future__ import annotations
+
+import asyncio
+import logging
+import math
+from collections.abc import Mapping
+from time import monotonic_ns, time_ns
+from typing import Any
+
+from cmvr_edge_ai.contracts import ApprovedRobotCommand, RobotCommand
+from cmvr_edge_ai.core.component import Emission, HealthReport, Operator, Sink, Source
+from cmvr_edge_ai.core.envelope import Envelope
+
+from .registry import PluginKind, PluginRegistry, PluginSpec
+
+
+class SequenceSource(Source):
+    """Finite synthetic source useful for deployment and runtime smoke tests."""
+
+    def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
+        self._node_id = node_id
+        items = params.get("items", ())
+        if isinstance(items, (str, bytes, bytearray, Mapping)):
+            raise ValueError("items must be a sequence, not a scalar or mapping")
+        try:
+            self._items = tuple(items)
+        except TypeError as exc:
+            raise ValueError("items must be an iterable sequence") from exc
+        self._interval_s = float(params.get("interval_s", 0.0))
+        self._schema_name = str(params.get("schema_name", "opaque"))
+        self._schema_version = int(params.get("schema_version", 1))
+        if self._interval_s < 0:
+            raise ValueError("interval_s must not be negative")
+
+    async def messages(self):  # type: ignore[no-untyped-def]
+        for sequence, payload in enumerate(self._items):
+            if self._interval_s:
+                await asyncio.sleep(self._interval_s)
+            yield Emission(
+                "output",
+                Envelope(
+                    payload=payload,
+                    schema_name=self._schema_name,
+                    schema_version=self._schema_version,
+                    source_id=self._node_id,
+                    sequence=sequence,
+                ),
+            )
+
+
+class PassthroughOperator(Operator):
+    def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
+        del node_id
+        del params
+
+    async def process(
+        self, envelope: Envelope[Any], input_port: str = "input"
+    ) -> Emission:
+        del input_port
+        return Emission("output", envelope)
+
+
+class LogSink(Sink):
+    def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
+        logger_name = str(params.get("logger", "cmvr_edge_ai.sink"))
+        self._logger = logging.getLogger(logger_name)
+        self._node_id = node_id
+        self._level = getattr(logging, str(params.get("level", "INFO")).upper())
+
+    async def consume(self, envelope: Envelope[Any], input_port: str = "input") -> None:
+        self._logger.log(
+            self._level,
+            "pipeline output node=%s port=%s schema=%s trace_id=%s payload=%r",
+            self._node_id,
+            input_port,
+            envelope.schema,
+            envelope.trace_id,
+            envelope.payload,
+        )
+
+
+class CommandSafetyGate(Operator):
+    """Fail-closed validation for transport-neutral robot commands."""
+
+    def __init__(self, node_id: str, params: Mapping[str, Any]) -> None:
+        self._node_id = node_id
+        self._allowed_actions = frozenset(
+            str(action) for action in params.get("allowed_actions", ())
+        )
+        self._allowed_devices = frozenset(
+            str(device) for device in params.get("allowed_devices", ())
+        )
+        self._min_interval_ns = int(float(params.get("min_interval_ms", 0.0)) * 1e6)
+        self._max_ttl_ns = int(float(params.get("max_ttl_ms", 5000.0)) * 1e6)
+        self._argument_limits = _parse_argument_limits(
+            params.get("argument_limits", {})
+        )
+        required_limits = params.get("require_limits_for", ())
+        self._require_limits_for = frozenset(
+            str(action) for action in required_limits
+        ) | {"set_velocity"}
+        self._enforce_sequence = _strict_bool(
+            params, "enforce_monotonic_sequence", default=True
+        )
+        self._last_command_ns: dict[tuple[str, str], int] = {}
+        self._last_sequence: dict[tuple[str, str], int] = {}
+        self._rejected_count = 0
+        self._logger = logging.getLogger(__name__)
+        if not self._allowed_actions:
+            raise ValueError("safety gate requires a non-empty allowed_actions list")
+        if self._min_interval_ns < 0:
+            raise ValueError("min_interval_ms must not be negative")
+        if self._max_ttl_ns <= 0:
+            raise ValueError("max_ttl_ms must be positive")
+        missing_limits = (self._allowed_actions & self._require_limits_for) - set(
+            self._argument_limits
+        )
+        if missing_limits:
+            raise ValueError(
+                "safety gate requires argument_limits for action(s): "
+                + ", ".join(sorted(missing_limits))
+            )
+        if "set_velocity" in self._allowed_actions:
+            velocity_fields = set(self._argument_limits["set_velocity"])
+            missing_fields = {"vx", "vy", "wz"} - velocity_fields
+            if missing_fields:
+                raise ValueError(
+                    "argument_limits.set_velocity must define vx, vy and wz; "
+                    f"missing: {', '.join(sorted(missing_fields))}"
+                )
+
+    async def process(
+        self, envelope: Envelope[Any], input_port: str = "input"
+    ) -> Emission | None:
+        del input_port
+        command = envelope.payload
+        if not isinstance(command, RobotCommand):
+            raise TypeError(
+                f"{self._node_id} expected RobotCommand, got {type(command).__name__}"
+            )
+        now_wall_ns = time_ns()
+        if envelope.is_expired(now_wall_ns) or command.valid_until_ns <= now_wall_ns:
+            return self._reject(command, "expired")
+        if command.valid_until_ns - now_wall_ns > self._max_ttl_ns:
+            return self._reject(command, "TTL exceeds safety-gate maximum")
+        if command.action not in self._allowed_actions:
+            return self._reject(command, "action is not allowlisted")
+        if self._allowed_devices and command.device_id not in self._allowed_devices:
+            return self._reject(command, "device is not allowlisted")
+
+        for argument, (minimum, maximum) in self._argument_limits.get(
+            command.action, {}
+        ).items():
+            if argument not in command.arguments:
+                return self._reject(
+                    command, f"required argument {argument!r} is missing"
+                )
+            try:
+                value = float(command.arguments[argument])
+            except (TypeError, ValueError):
+                return self._reject(command, f"argument {argument!r} is not numeric")
+            if not math.isfinite(value) or not minimum <= value <= maximum:
+                return self._reject(
+                    command,
+                    f"argument {argument!r}={value!r} is outside "
+                    f"[{minimum}, {maximum}]",
+                )
+
+        key = (command.device_id, command.action)
+        previous_sequence = self._last_sequence.get(key)
+        if (
+            self._enforce_sequence
+            and previous_sequence is not None
+            and command.sequence <= previous_sequence
+        ):
+            return self._reject(command, "sequence is stale or duplicated")
+        self._last_sequence[key] = command.sequence
+        now = monotonic_ns()
+        previous = self._last_command_ns.get(key)
+        if previous is not None and now - previous < self._min_interval_ns:
+            return self._reject(command, "rate limit exceeded")
+        self._last_command_ns[key] = now
+        approved = ApprovedRobotCommand(command=command, approved_by=self._node_id)
+        return Emission(
+            "commands",
+            envelope.with_payload(
+                approved,
+                schema_name="ApprovedRobotCommand",
+                schema_version=1,
+                source_id=self._node_id,
+            ),
+        )
+
+    async def health(self) -> HealthReport:
+        return HealthReport(True, f"rejected_commands={self._rejected_count}")
+
+    def _reject(self, command: RobotCommand, reason: str) -> Emission | None:
+        self._rejected_count += 1
+        self._logger.warning(
+            "robot command rejected gate=%s command_id=%s device=%s action=%s "
+            "reason=%s",
+            self._node_id,
+            command.command_id,
+            command.device_id,
+            command.action,
+            reason,
+        )
+        return None
+
+
+def _parse_argument_limits(value: Any) -> dict[str, dict[str, tuple[float, float]]]:
+    if not isinstance(value, Mapping):
+        raise ValueError("argument_limits must be a mapping")
+    parsed: dict[str, dict[str, tuple[float, float]]] = {}
+    for action, arguments in value.items():
+        if not isinstance(arguments, Mapping):
+            raise ValueError(f"argument_limits.{action} must be a mapping")
+        parsed_arguments: dict[str, tuple[float, float]] = {}
+        for name, bounds in arguments.items():
+            if (
+                not isinstance(bounds, Mapping)
+                or "min" not in bounds
+                or "max" not in bounds
+            ):
+                raise ValueError(
+                    f"argument_limits.{action}.{name} requires min and max"
+                )
+            minimum = float(bounds["min"])
+            maximum = float(bounds["max"])
+            if not math.isfinite(minimum) or not math.isfinite(maximum):
+                raise ValueError("argument limits must be finite")
+            if minimum > maximum:
+                raise ValueError(f"argument_limits.{action}.{name} min exceeds max")
+            parsed_arguments[str(name)] = (minimum, maximum)
+        parsed[str(action)] = parsed_arguments
+    return parsed
+
+
+def _strict_bool(params: Mapping[str, Any], name: str, *, default: bool) -> bool:
+    value = params.get(name, default)
+    if type(value) is not bool:
+        raise ValueError(f"{name} must be a boolean, not {value!r}")
+    return value
+
+
+def register_builtin_plugins(registry: PluginRegistry) -> None:
+    registry.register(
+        PluginSpec(
+            plugin_id="core.sequence_source@1",
+            kind=PluginKind.SOURCE,
+            factory=SequenceSource,
+            outputs={"output": "*"},
+            description="Finite synthetic source for smoke tests",
+        )
+    )
+    registry.register(
+        PluginSpec(
+            plugin_id="core.passthrough@1",
+            kind=PluginKind.OPERATOR,
+            factory=PassthroughOperator,
+            inputs={"input": "*"},
+            outputs={"output": "*"},
+            description="Protocol-neutral pass-through operator",
+        )
+    )
+    registry.register(
+        PluginSpec(
+            plugin_id="core.log_sink@1",
+            kind=PluginKind.SINK,
+            factory=LogSink,
+            inputs={"input": "*"},
+            description="Structured log sink",
+        )
+    )
+    registry.register(
+        PluginSpec(
+            plugin_id="safety.robot_command_gate@1",
+            kind=PluginKind.OPERATOR,
+            factory=CommandSafetyGate,
+            inputs={"input": "RobotCommand/v1"},
+            outputs={"commands": "ApprovedRobotCommand/v1"},
+            description="Fail-closed allowlist and rate gate for robot commands",
+            tags=frozenset({"safety_gate"}),
+        )
+    )
+
+
+__all__ = [
+    "CommandSafetyGate",
+    "LogSink",
+    "PassthroughOperator",
+    "SequenceSource",
+    "register_builtin_plugins",
+]
diff --git a/src/cmvr_edge_ai/plugins/registry.py b/src/cmvr_edge_ai/plugins/registry.py
new file mode 100644
index 0000000..5a28a63
--- /dev/null
+++ b/src/cmvr_edge_ai/plugins/registry.py
@@ -0,0 +1,166 @@
+"""Explicit plugin registry used by the configuration compiler.
+
+Plugins are registered under stable, versioned identifiers.  Runtime
+configuration never imports an arbitrary ``module:object`` path.
+"""
+
+from __future__ import annotations
+
+from collections.abc import Callable, Mapping
+from dataclasses import dataclass, field
+from enum import Enum
+from importlib import metadata
+from types import MappingProxyType
+from typing import Any, cast
+
+
+class PluginError(RuntimeError):
+    """Base class for plugin registration and lookup failures."""
+
+
+class DuplicatePluginError(PluginError):
+    """Raised when a plugin identifier is registered twice."""
+
+
+class UnknownPluginError(PluginError):
+    """Raised when configuration references an unknown plugin."""
+
+
+class PluginKind(str, Enum):
+    SOURCE = "source"
+    OPERATOR = "operator"
+    SINK = "sink"
+
+
+PluginFactory = Callable[[str, Mapping[str, Any]], Any]
+
+
+@dataclass(frozen=True, slots=True)
+class PluginSpec:
+    """Static metadata and factory for a pipeline component."""
+
+    plugin_id: str
+    kind: PluginKind
+    factory: PluginFactory
+    inputs: Mapping[str, str] = field(default_factory=dict)
+    outputs: Mapping[str, str] = field(default_factory=dict)
+    description: str = ""
+    tags: frozenset[str] = field(default_factory=frozenset)
+
+    def __post_init__(self) -> None:
+        if not isinstance(self.plugin_id, str) or "@" not in self.plugin_id:
+            raise ValueError(
+                f"plugin id must be versioned (for example name@1): {self.plugin_id}"
+            )
+        name, version = self.plugin_id.rsplit("@", maxsplit=1)
+        if not name or not version.isdigit() or int(version) < 1:
+            raise ValueError(
+                f"plugin id must end in a positive numeric version: {self.plugin_id}"
+            )
+        try:
+            parsed_kind = PluginKind(self.kind)
+        except ValueError as exc:
+            raise ValueError(f"unknown plugin kind: {self.kind!r}") from exc
+        if not callable(self.factory):
+            raise TypeError("plugin factory must be callable")
+
+        inputs = _validated_ports("input", self.inputs)
+        outputs = _validated_ports("output", self.outputs)
+        tags = frozenset(self.tags)
+        if any(not isinstance(tag, str) or not tag for tag in tags):
+            raise ValueError("plugin tags must be non-empty strings")
+
+        object.__setattr__(self, "kind", parsed_kind)
+        object.__setattr__(self, "inputs", MappingProxyType(inputs))
+        object.__setattr__(self, "outputs", MappingProxyType(outputs))
+        object.__setattr__(self, "tags", tags)
+        if parsed_kind is PluginKind.SOURCE and inputs:
+            raise ValueError("source plugins cannot declare input ports")
+        if parsed_kind is PluginKind.SINK and outputs:
+            raise ValueError("sink plugins cannot declare output ports")
+
+
+class PluginRegistry:
+    """In-memory registry with optional Python entry-point discovery."""
+
+    ENTRY_POINT_GROUP = "cmvr_edge_ai.plugins"
+
+    def __init__(self) -> None:
+        self._plugins: dict[str, PluginSpec] = {}
+
+    def register(self, spec: PluginSpec) -> PluginSpec:
+        if spec.plugin_id in self._plugins:
+            raise DuplicatePluginError(f"plugin already registered: {spec.plugin_id}")
+        self._plugins[spec.plugin_id] = spec
+        return spec
+
+    def resolve(self, plugin_id: str) -> PluginSpec:
+        try:
+            return self._plugins[plugin_id]
+        except KeyError as exc:
+            available = ", ".join(sorted(self._plugins)) or "<none>"
+            raise UnknownPluginError(
+                f"unknown plugin {plugin_id!r}; available plugins: {available}"
+            ) from exc
+
+    def create(
+        self, plugin_id: str, node_id: str, params: Mapping[str, Any] | None = None
+    ) -> Any:
+        return self.resolve(plugin_id).factory(node_id, params or {})
+
+    def specs(self) -> tuple[PluginSpec, ...]:
+        return tuple(self._plugins[key] for key in sorted(self._plugins))
+
+    def load_entry_points(self) -> None:
+        """Load plugin registration callbacks from installed distributions.
+
+        An entry point may expose either a ``PluginSpec`` or a callable taking
+        this registry.  Discovery remains explicit and restricted to the
+        dedicated entry-point group.
+        """
+
+        discovered = cast(Any, metadata.entry_points())
+        selected = (
+            discovered.select(group=self.ENTRY_POINT_GROUP)
+            if hasattr(discovered, "select")
+            else discovered.get(self.ENTRY_POINT_GROUP, ())
+        )
+        for entry_point in selected:
+            loaded = entry_point.load()
+            if isinstance(loaded, PluginSpec):
+                self.register(loaded)
+            elif callable(loaded):
+                loaded(self)
+            else:
+                raise PluginError(
+                    f"entry point {entry_point.name!r} must expose PluginSpec "
+                    "or a registry callback"
+                )
+
+
+def schemas_compatible(source_schema: str, target_schema: str) -> bool:
+    """Return whether two declared port schemas can be connected."""
+
+    return (
+        source_schema == target_schema or source_schema == "*" or target_schema == "*"
+    )
+
+
+def _validated_ports(direction: str, ports: Mapping[str, str]) -> dict[str, str]:
+    if not isinstance(ports, Mapping):
+        raise TypeError(f"plugin {direction} ports must be a mapping")
+    copied = dict(ports)
+    invalid = sorted(
+        repr(name)
+        for name, schema in copied.items()
+        if not isinstance(name, str)
+        or not name
+        or not isinstance(schema, str)
+        or not schema
+    )
+    if invalid:
+        raise ValueError(
+            f"plugin {direction} ports require non-empty string names and schemas: "
+            + ", ".join(invalid)
+        )
+    return copied
diff --git a/src/cmvr_edge_ai/transports/__init__.py b/src/cmvr_edge_ai/transports/__init__.py
new file mode 100644
index 0000000..c5b8c0b
--- /dev/null
+++ b/src/cmvr_edge_ai/transports/__init__.py
@@ -0,0 +1,5 @@
+"""Protocol-native transport helpers used by boundary connectors."""
+
+from .base import ManagedTransport
+
+__all__ = ["ManagedTransport"]
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diff --git a/src/cmvr_edge_ai/transports/base.py b/src/cmvr_edge_ai/transports/base.py
new file mode 100644
index 0000000..5395d18
--- /dev/null
+++ b/src/cmvr_edge_ai/transports/base.py
@@ -0,0 +1,15 @@
+"""Shared transport lifecycle only.
+
+The framework intentionally does not force gRPC streams, HTTP requests and
+QUIC datagrams behind one fake ``send`` method.  Connectors expose the common
+Source/Operator/Sink contracts while transport details stay protocol-native.
+"""
+
+from __future__ import annotations
+
+from typing import Protocol
+
+
+class ManagedTransport(Protocol):
+    async def close(self) -> None:
+        """Release connections and protocol resources."""
diff --git a/src/cmvr_edge_ai/transports/grpc/__init__.py b/src/cmvr_edge_ai/transports/grpc/__init__.py
new file mode 100644
index 0000000..63053af
--- /dev/null
+++ b/src/cmvr_edge_ai/transports/grpc/__init__.py
@@ -0,0 +1,16 @@
+"""gRPC transport utilities."""
+
+from .channel import (
+    GrpcChannelPool,
+    GrpcChannelSettings,
+    GrpcDependencyError,
+)
+from .bidi import BidiRequestStream, BidiRequestStreamClosed
+
+__all__ = [
+    "BidiRequestStream",
+    "BidiRequestStreamClosed",
+    "GrpcChannelPool",
+    "GrpcChannelSettings",
+    "GrpcDependencyError",
+]
diff --git a/src/cmvr_edge_ai/transports/grpc/__pycache__/__init__.cpython-310.pyc b/src/cmvr_edge_ai/transports/grpc/__pycache__/__init__.cpython-310.pyc
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diff --git a/src/cmvr_edge_ai/transports/grpc/bidi.py b/src/cmvr_edge_ai/transports/grpc/bidi.py
new file mode 100644
index 0000000..c707701
--- /dev/null
+++ b/src/cmvr_edge_ai/transports/grpc/bidi.py
@@ -0,0 +1,68 @@
+"""Bounded request iterator for true bidirectional gRPC connectors."""
+
+from __future__ import annotations
+
+from typing import AsyncIterator, Generic, TypeVar
+
+from cmvr_edge_ai.core.edge_queue import (
+    EdgeQueue,
+    EdgeQueueClosed,
+    OverflowPolicy,
+    QueueStats,
+)
+
+
+RequestT = TypeVar("RequestT")
+
+
+class BidiRequestStreamClosed(RuntimeError):
+    """Raised when a producer writes after or during stream shutdown."""
+
+
+class BidiRequestStream(Generic[RequestT]):
+    """An async request iterator with explicit backpressure and close."""
+
+    def __init__(self, capacity: int = 8) -> None:
+        if capacity < 1:
+            raise ValueError("capacity must be at least 1")
+        self._queue: EdgeQueue[RequestT] = EdgeQueue(
+            capacity,
+            OverflowPolicy.BLOCK,
+            name="grpc-bidi-request-stream",
+        )
+        self._consumer_started = False
+
+    @property
+    def closed(self) -> bool:
+        return self._queue.closed
+
+    def stats(self) -> QueueStats:
+        return self._queue.stats()
+
+    async def send(self, request: RequestT) -> None:
+        try:
+            await self._queue.put(request)
+        except EdgeQueueClosed as exc:
+            raise BidiRequestStreamClosed(
+                "bidirectional request stream is closed"
+            ) from exc
+
+    async def close(self) -> None:
+        # A normal close drains already accepted requests, while atomically
+        # waking every blocked sender so none can report a false success.
+        await self._queue.close()
+
+    async def __aiter__(self) -> AsyncIterator[RequestT]:
+        if self._consumer_started:
+            raise RuntimeError("BidiRequestStream supports exactly one consumer")
+        self._consumer_started = True
+        try:
+            async for item in self._queue:
+                yield item
+        finally:
+            # If gRPC cancels or abandons the iterator, no queued request can be
+            # delivered.  Discard it and wake blocked producers immediately.
+            await self._queue.close(discard=True)
+
+
+__all__ = ["BidiRequestStream", "BidiRequestStreamClosed"]
diff --git a/src/cmvr_edge_ai/transports/grpc/channel.py b/src/cmvr_edge_ai/transports/grpc/channel.py
new file mode 100644
index 0000000..6f390c8
--- /dev/null
+++ b/src/cmvr_edge_ai/transports/grpc/channel.py
@@ -0,0 +1,79 @@
+"""Async gRPC channel reuse with a lazy optional dependency."""
+
+from __future__ import annotations
+
+import asyncio
+from dataclasses import dataclass, field
+from pathlib import Path
+from typing import Any
+
+
+class GrpcDependencyError(RuntimeError):
+    """Raised when a gRPC connector is used without the grpc extra."""
+
+
+@dataclass(frozen=True, slots=True)
+class GrpcChannelSettings:
+    target: str
+    tls: bool = False
+    root_certificates: Path | None = None
+    options: tuple[tuple[str, int | str], ...] = field(default_factory=tuple)
+
+
+class GrpcChannelPool:
+    """Create one ``grpc.aio.Channel`` per named endpoint.
+
+    The pool must be created and used from a single asyncio event-loop thread,
+    matching the threading requirements of ``grpc.aio`` objects.
+    """
+
+    def __init__(self) -> None:
+        self._channels: dict[str, Any] = {}
+        self._settings: dict[str, GrpcChannelSettings] = {}
+        self._lock = asyncio.Lock()
+
+    async def get(self, endpoint_id: str, settings: GrpcChannelSettings) -> Any:
+        async with self._lock:
+            existing = self._channels.get(endpoint_id)
+            if existing is not None:
+                if self._settings[endpoint_id] != settings:
+                    raise ValueError(
+                        f"gRPC endpoint {endpoint_id!r} requested with conflicting settings"
+                    )
+                return existing
+
+            try:
+                import grpc
+            except ImportError as exc:
+                raise GrpcDependencyError(
+                    "gRPC support is not installed; install cmvr-edge-ai[grpc]"
+                ) from exc
+
+            if settings.tls:
+                roots = (
+                    settings.root_certificates.read_bytes()
+                    if settings.root_certificates is not None
+                    else None
+                )
+                credentials = grpc.ssl_channel_credentials(root_certificates=roots)
+                channel = grpc.aio.secure_channel(
+                    settings.target, credentials, options=settings.options
+                )
+            else:
+                channel = grpc.aio.insecure_channel(
+                    settings.target, options=settings.options
+                )
+
+            self._channels[endpoint_id] = channel
+            self._settings[endpoint_id] = settings
+            return channel
+
+    async def close(self, grace_s: float = 1.0) -> None:
+        async with self._lock:
+            channels = tuple(self._channels.values())
+            self._channels.clear()
+            self._settings.clear()
+        await asyncio.gather(
+            *(channel.close(grace=grace_s) for channel in channels),
+            return_exceptions=True,
+        )
diff --git a/src/cmvr_edge_ai/transports/http/__init__.py b/src/cmvr_edge_ai/transports/http/__init__.py
new file mode 100644
index 0000000..15b569a
--- /dev/null
+++ b/src/cmvr_edge_ai/transports/http/__init__.py
@@ -0,0 +1,5 @@
+"""HTTP transport utilities."""
+
+from .client import HttpClientPool, HttpClientSettings, HttpDependencyError
+
+__all__ = ["HttpClientPool", "HttpClientSettings", "HttpDependencyError"]
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diff --git a/src/cmvr_edge_ai/transports/http/client.py b/src/cmvr_edge_ai/transports/http/client.py
new file mode 100644
index 0000000..a151ef4
--- /dev/null
+++ b/src/cmvr_edge_ai/transports/http/client.py
@@ -0,0 +1,62 @@
+"""Shared asynchronous HTTP clients, imported only when configured."""
+
+from __future__ import annotations
+
+import asyncio
+from dataclasses import dataclass, field
+from typing import Any
+
+
+class HttpDependencyError(RuntimeError):
+    """Raised when an HTTP connector is used without the HTTP extra."""
+
+
+@dataclass(frozen=True, slots=True)
+class HttpClientSettings:
+    base_url: str
+    timeout_s: float = 5.0
+    headers: tuple[tuple[str, str], ...] = field(default_factory=tuple)
+    verify_tls: bool = True
+
+
+class HttpClientPool:
+    def __init__(self) -> None:
+        self._clients: dict[str, Any] = {}
+        self._settings: dict[str, HttpClientSettings] = {}
+        self._lock = asyncio.Lock()
+
+    async def get(self, endpoint_id: str, settings: HttpClientSettings) -> Any:
+        async with self._lock:
+            existing = self._clients.get(endpoint_id)
+            if existing is not None:
+                if self._settings[endpoint_id] != settings:
+                    raise ValueError(
+                        f"HTTP endpoint {endpoint_id!r} requested with conflicting settings"
+                    )
+                return existing
+
+            try:
+                import httpx
+            except ImportError as exc:
+                raise HttpDependencyError(
+                    "HTTP support is not installed; install cmvr-edge-ai[http]"
+                ) from exc
+
+            client = httpx.AsyncClient(
+                base_url=settings.base_url,
+                timeout=settings.timeout_s,
+                headers=dict(settings.headers),
+                verify=settings.verify_tls,
+            )
+            self._clients[endpoint_id] = client
+            self._settings[endpoint_id] = settings
+            return client
+
+    async def close(self) -> None:
+        async with self._lock:
+            clients = tuple(self._clients.values())
+            self._clients.clear()
+            self._settings.clear()
+        await asyncio.gather(
+            *(client.aclose() for client in clients), return_exceptions=True
+        )
diff --git a/src/cmvr_edge_ai/transports/quic/__init__.py b/src/cmvr_edge_ai/transports/quic/__init__.py
new file mode 100644
index 0000000..462bad7
--- /dev/null
+++ b/src/cmvr_edge_ai/transports/quic/__init__.py
@@ -0,0 +1 @@
+"""Reserved package for future QUIC stream and datagram connectors."""
diff --git a/src/cmvr_edge_ai/transports/quic/__pycache__/__init__.cpython-310.pyc b/src/cmvr_edge_ai/transports/quic/__pycache__/__init__.cpython-310.pyc
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diff --git a/src/cmvr_edge_ai/transports/udp/__init__.py b/src/cmvr_edge_ai/transports/udp/__init__.py
new file mode 100644
index 0000000..7b5677b
--- /dev/null
+++ b/src/cmvr_edge_ai/transports/udp/__init__.py
@@ -0,0 +1,5 @@
+"""Reserved package for typed UDP connectors.
+
+UDP datagrams will be exposed through Source/Sink plugins rather than a
+protocol-erasing transport API.
+"""
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diff --git a/src/cmvr_edge_ai/workers/__init__.py b/src/cmvr_edge_ai/workers/__init__.py
new file mode 100644
index 0000000..3508bdf
--- /dev/null
+++ b/src/cmvr_edge_ai/workers/__init__.py
@@ -0,0 +1,11 @@
+"""Explicit, resource-bounded execution helpers for plugin authors."""
+
+from .process import PersistentProcessWorker, ProcessWorkerError, RemoteWorkerError
+from .thread import run_blocking
+
+__all__ = [
+    "PersistentProcessWorker",
+    "ProcessWorkerError",
+    "RemoteWorkerError",
+    "run_blocking",
+]
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diff --git a/src/cmvr_edge_ai/workers/process.py b/src/cmvr_edge_ai/workers/process.py
new file mode 100644
index 0000000..c30b1ed
--- /dev/null
+++ b/src/cmvr_edge_ai/workers/process.py
@@ -0,0 +1,211 @@
+"""Small, bounded, persistent subprocess worker for CPU/model plugins.
+
+The worker is intentionally not wired automatically from YAML.  A model plugin
+owns one worker for its whole lifecycle, loads its model once in the child, and
+submits small payloads or shared-memory references.  Large decoded frames
+should not be copied through these queues.
+"""
+
+from __future__ import annotations
+
+import asyncio
+import multiprocessing as mp
+import queue
+import traceback
+from collections.abc import Callable
+from typing import Any
+from uuid import uuid4
+from time import monotonic
+
+
+WorkerHandler = Callable[[Any], Any]
+WorkerFactory = Callable[[], WorkerHandler]
+_STOP = "__cmvr_edge_ai_worker_stop__"
+
+
+class ProcessWorkerError(RuntimeError):
+    pass
+
+
+class RemoteWorkerError(ProcessWorkerError):
+    def __init__(self, remote_type: str, message: str, remote_traceback: str) -> None:
+        self.remote_type = remote_type
+        self.remote_traceback = remote_traceback
+        super().__init__(f"remote {remote_type}: {message}\n{remote_traceback}")
+
+
+class PersistentProcessWorker:
+    """One long-lived subprocess with bounded request and result queues."""
+
+    def __init__(
+        self,
+        factory: WorkerFactory,
+        *,
+        name: str = "model-worker",
+        start_method: str = "spawn",
+        queue_capacity: int = 1,
+    ) -> None:
+        if queue_capacity < 1:
+            raise ValueError("queue_capacity must be at least 1")
+        self._factory = factory
+        self._name = name
+        self._context: Any = mp.get_context(start_method)
+        self._requests = self._context.Queue(maxsize=queue_capacity)
+        self._results = self._context.Queue(maxsize=queue_capacity)
+        self._process: mp.Process | None = None
+        self._submit_lock = asyncio.Lock()
+        self._closed = False
+        self._poisoned_reason: str | None = None
+
+    @property
+    def is_alive(self) -> bool:
+        return self._process is not None and self._process.is_alive()
+
+    @property
+    def poisoned(self) -> bool:
+        """Whether an in-flight timeout/cancellation made correlation unsafe."""
+
+        return self._poisoned_reason is not None
+
+    async def start(self) -> None:
+        if self._closed:
+            raise ProcessWorkerError("worker is one-shot and has already been stopped")
+        if self._process is not None:
+            raise ProcessWorkerError("worker has already been started")
+        process = self._context.Process(
+            target=_worker_main,
+            args=(self._factory, self._requests, self._results),
+            name=self._name,
+        )
+        process.start()
+        self._process = process
+
+    async def submit(self, payload: Any, *, timeout_s: float | None = None) -> Any:
+        if not self.is_alive:
+            raise ProcessWorkerError("worker is not running")
+        if self._poisoned_reason is not None:
+            raise ProcessWorkerError(
+                "worker is poisoned by an indeterminate prior request; stop and "
+                f"recreate it ({self._poisoned_reason})"
+            )
+        if timeout_s is not None and timeout_s <= 0:
+            raise ValueError("timeout_s must be positive")
+        request_id = uuid4().hex
+        async with self._submit_lock:
+            if self._poisoned_reason is not None:
+                raise ProcessWorkerError(
+                    "worker is poisoned by an indeterminate prior request; stop "
+                    f"and recreate it ({self._poisoned_reason})"
+                )
+            deadline = monotonic() + timeout_s if timeout_s is not None else None
+            request_may_have_been_sent = False
+            try:
+                # Cancellation can race the backing queue thread, so once the
+                # put begins we conservatively treat its delivery as uncertain.
+                request_may_have_been_sent = True
+                await self._put_request((request_id, payload), deadline)
+                response = await self._get_response(deadline)
+            except BaseException as exc:
+                if request_may_have_been_sent:
+                    self._poisoned_reason = type(exc).__name__
+                raise
+
+        response_id, success, value = response
+        if response_id != request_id:
+            self._poisoned_reason = "response correlation mismatch"
+            raise ProcessWorkerError(
+                f"worker response correlation mismatch: {response_id} != {request_id}"
+            )
+        if success:
+            return value
+        remote_type, message, remote_traceback = value
+        raise RemoteWorkerError(remote_type, message, remote_traceback)
+
+    async def _put_request(self, request: Any, deadline: float | None) -> None:
+        while True:
+            if not self.is_alive:
+                raise ProcessWorkerError("worker exited before accepting request")
+            timeout = _poll_timeout(deadline)
+            try:
+                await asyncio.to_thread(self._requests.put, request, True, timeout)
+                return
+            except queue.Full:
+                if deadline is not None and monotonic() >= deadline:
+                    raise TimeoutError("worker request timed out")
+
+    async def _get_response(self, deadline: float | None) -> Any:
+        while True:
+            if not self.is_alive:
+                raise ProcessWorkerError("worker exited before returning a response")
+            timeout = _poll_timeout(deadline)
+            try:
+                return await asyncio.to_thread(self._results.get, True, timeout)
+            except queue.Empty:
+                if deadline is not None and monotonic() >= deadline:
+                    raise TimeoutError("worker response timed out")
+
+    async def stop(self, *, timeout_s: float = 5.0) -> None:
+        if timeout_s <= 0:
+            raise ValueError("timeout_s must be positive")
+        process = self._process
+        if process is None:
+            return
+        if process.is_alive():
+            try:
+                await asyncio.to_thread(
+                    self._requests.put, _STOP, True, min(timeout_s, 1.0)
+                )
+            except queue.Full:
+                pass
+            await asyncio.to_thread(process.join, timeout_s)
+            if process.is_alive():
+                process.terminate()
+                await asyncio.to_thread(process.join, 1.0)
+        self._process = None
+        self._requests.close()
+        self._results.close()
+        self._closed = True
+
+
+def _worker_main(factory: WorkerFactory, requests: Any, results: Any) -> None:
+    try:
+        handler = factory()
+    except BaseException as exc:
+        # There is no request id yet, so the parent observes process death.
+        traceback.print_exception(exc)
+        return
+
+    while True:
+        item = requests.get()
+        if item == _STOP:
+            return
+        request_id, payload = item
+        try:
+            result = handler(payload)
+            results.put((request_id, True, result))
+        except BaseException as exc:
+            results.put(
+                (
+                    request_id,
+                    False,
+                    (type(exc).__name__, str(exc), traceback.format_exc()),
+                )
+            )
+
+
+def _poll_timeout(deadline: float | None) -> float:
+    if deadline is None:
+        return 0.2
+    remaining = deadline - monotonic()
+    if remaining <= 0:
+        return 0.0
+    return min(remaining, 0.2)
+
+
+__all__ = [
+    "PersistentProcessWorker",
+    "ProcessWorkerError",
+    "RemoteWorkerError",
+    "WorkerFactory",
+    "WorkerHandler",
+]
diff --git a/src/cmvr_edge_ai/workers/thread.py b/src/cmvr_edge_ai/workers/thread.py
new file mode 100644
index 0000000..6ae775c
--- /dev/null
+++ b/src/cmvr_edge_ai/workers/thread.py
@@ -0,0 +1,32 @@
+"""Bounded thread offload helper using the application's shared executor."""
+
+from __future__ import annotations
+
+import asyncio
+from collections.abc import Callable
+from concurrent.futures import Executor
+from functools import partial
+from typing import Any, TypeVar
+
+
+ResultT = TypeVar("ResultT")
+
+
+async def run_blocking(
+    function: Callable[..., ResultT],
+    *args: Any,
+    executor: Executor | None = None,
+    **kwargs: Any,
+) -> ResultT:
+    """Run blocking native/SDK code without starving the event loop.
+
+    Plugins should pass the bounded ``thread_executor`` from ComponentContext
+    metadata.  Leaving it unset deliberately uses the host loop's executor
+    without replacing or taking ownership of that executor.
+    """
+
+    call = partial(function, *args, **kwargs)
+    return await asyncio.get_running_loop().run_in_executor(executor, call)
+
+
+__all__ = ["run_blocking"]
diff --git a/talk_server/README.md b/talk_server/README.md
new file mode 100644
index 0000000..2cb2f6b
--- /dev/null
+++ b/talk_server/README.md
@@ -0,0 +1,15 @@
+# Talk pipeline
+
+`pipeline.yaml` is runnable with a simulated audio chunk so the framework can
+be tested before the cmvr-es microphone stream proto is available.
+
+When the bidirectional audio RPC lands, replace the synthetic source with the
+typed `cmvr.grpc.microphone_audio_stream@1` connector and expand the chain to:
+
+```text
+AudioChunk -> VAD -> ASR -> dialogue -> TTS -> speaker stream
+```
+
+The internal `AudioChunk/v1` contract and port/QoS model are already independent
+of the final protobuf message names.
+
diff --git a/talk_server/pipeline.yaml b/talk_server/pipeline.yaml
new file mode 100644
index 0000000..0f65f2f
--- /dev/null
+++ b/talk_server/pipeline.yaml
@@ -0,0 +1,42 @@
+api_version: cmvr.edge.ai/v1
+
+runtime:
+  thread_workers: 3
+  shutdown_timeout_s: 8
+
+pipelines:
+  talk_smoke:
+    enabled: true
+    nodes:
+      audio_stream_placeholder:
+        # Replace with cmvr.grpc.microphone_audio_stream@1 when its proto lands.
+        uses: core.sequence_source@1
+        with:
+          items:
+            - simulated-audio-chunk
+          schema_name: AudioChunk
+          schema_version: 1
+
+      dialogue_placeholder:
+        # The real chain will be VAD -> ASR -> dialogue -> TTS.
+        uses: core.passthrough@1
+
+      output:
+        uses: core.log_sink@1
+        with:
+          logger: cmvr_edge_ai.talk
+
+    edges:
+      - from: audio_stream_placeholder.output
+        to: dialogue_placeholder.input
+        qos:
+          profile: audio_contiguous
+          capacity: 16
+          overflow: block
+
+      - from: dialogue_placeholder.output
+        to: output.input
+        qos:
+          profile: request
+          capacity: 8
+          overflow: block
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new file mode 100644
index 0000000..4ded8f2
--- /dev/null
+++ b/tests/conftest.py
@@ -0,0 +1,13 @@
+"""Test bootstrap for the repository's ``src`` layout."""
+
+from __future__ import annotations
+
+import sys
+from pathlib import Path
+
+
+PROJECT_ROOT = Path(__file__).resolve().parents[1]
+SOURCE_ROOT = PROJECT_ROOT / "src"
+
+if str(SOURCE_ROOT) not in sys.path:
+    sys.path.insert(0, str(SOURCE_ROOT))
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diff --git a/tests/integration/test_application_cli.py b/tests/integration/test_application_cli.py
new file mode 100644
index 0000000..0194d6b
--- /dev/null
+++ b/tests/integration/test_application_cli.py
@@ -0,0 +1,116 @@
+from __future__ import annotations
+
+import asyncio
+from concurrent.futures import ThreadPoolExecutor
+from pathlib import Path
+
+from cmvr_edge_ai.application import (
+    ApplicationState,
+    EdgeAIApplication,
+    create_default_registry,
+    validate_application,
+)
+from cmvr_edge_ai.cli import main
+from cmvr_edge_ai.config import load_config
+
+
+PROJECT_ROOT = Path(__file__).resolve().parents[2]
+SMOKE_CONFIG = PROJECT_ROOT / "configs" / "smoke.yaml"
+DETECTION_CONFIG = PROJECT_ROOT / "detect_server" / "pipeline.yaml"
+
+
+def test_application_runs_the_finite_smoke_pipeline() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        loop = asyncio.get_running_loop()
+        host_executor = ThreadPoolExecutor(max_workers=1)
+        loop.set_default_executor(host_executor)
+        application = EdgeAIApplication(
+            load_config(SMOKE_CONFIG),
+            create_default_registry(discover_entry_points=False),
+        )
+        try:
+            await application.start()
+            running_health = await application.health()
+            await application.wait()
+            await application.stop()
+            # The application owns only its bounded executor. Stopping it must
+            # not poison an embedding event loop's pre-existing executor.
+            host_executor_result = await asyncio.to_thread(lambda: "still-usable")
+            return application, running_health, host_executor_result
+        finally:
+            # Python 3.12 Runner shuts its default executor down from another
+            # helper thread. Explicit cleanup keeps this regression deterministic
+            # in restricted containers where that helper cannot wake the loop.
+            host_executor.shutdown(wait=True, cancel_futures=True)
+            loop._default_executor = None  # type: ignore[attr-defined]
+
+    application, running_health, host_executor_result = asyncio.run(exercise())
+
+    assert running_health["state"] == "running"
+    assert set(running_health["pipelines"]) == {"smoke"}
+    assert application.pipelines == ("smoke",)
+    assert application.state is ApplicationState.STOPPED
+    assert host_executor_result == "still-usable"
+
+
+def test_cli_validates_and_runs_smoke_config(
+    capsys, monkeypatch
+) -> None:  # type: ignore[no-untyped-def]
+    # ``configure_logging(force=True)`` intentionally owns process logging in
+    # production. Avoid leaking that global CLI side effect into later tests.
+    monkeypatch.setattr("cmvr_edge_ai.cli.configure_logging", lambda *_: None)
+    assert main(["validate", "--config", str(SMOKE_CONFIG)]) == 0
+    validation_output = capsys.readouterr()
+    assert "configuration is valid; pipelines: smoke" in validation_output.out
+    assert validation_output.err == ""
+
+    assert main(["run", "--config", str(SMOKE_CONFIG), "--log-level", "WARNING"]) == 0
+    run_output = capsys.readouterr()
+    assert run_output.err == ""
+
+
+def test_cli_lists_versioned_builtin_plugins(capsys) -> None:  # type: ignore[no-untyped-def]
+    assert main(["plugins"]) == 0
+
+    output = capsys.readouterr().out
+    assert "core.sequence_source@1\tsource" in output
+    assert "detection.model@1\toperator" in output
+    assert "media.video_decoder.pyav@1\toperator" in output
+    assert "safety.robot_command_gate@1\toperator" in output
+
+
+def test_cli_lists_detection_model_metadata(capsys) -> None:  # type: ignore[no-untyped-def]
+    assert main(["models"]) == 0
+
+    output = capsys.readouterr().out
+    assert (
+        "construction-ppe-yolov8@1\tConstruction PPE YOLOv8s\t" "ultralytics-yolo"
+    ) in output
+    assert "No-Helmet" in output
+    assert "No-Vest" in output
+    assert (
+        "ppe-6classes-yolov8n@1\tPPE Detection YOLOv8n (6 Classes)\t"
+        "ultralytics-yolo"
+    ) in output
+    assert "Gloves,Vest,goggles,helmet,mask,safety_shoe" in output
+
+
+def test_real_detection_config_compiles_without_loading_optional_runtimes() -> None:
+    config = load_config(DETECTION_CONFIG)
+    compiled = validate_application(
+        config,
+        create_default_registry(discover_entry_points=False),
+    )
+
+    assert len(compiled) == 1
+    assert (
+        config.pipelines["detection"].nodes["platform"].params["failure_mode"]
+        == "log_and_drop"
+    )
+    assert set(compiled[0].plugin_specs) == {
+        "camera",
+        "decoder",
+        "detector",
+        "repeat_gate",
+        "platform",
+    }
diff --git a/tests/integration/test_detection_pipeline.py b/tests/integration/test_detection_pipeline.py
new file mode 100644
index 0000000..4e24398
--- /dev/null
+++ b/tests/integration/test_detection_pipeline.py
@@ -0,0 +1,223 @@
+from __future__ import annotations
+
+import asyncio
+from collections.abc import Mapping, Sequence
+from concurrent.futures import ThreadPoolExecutor
+from io import BytesIO
+from typing import Any
+
+import pytest
+
+from cmvr_edge_ai.application import create_default_registry
+from cmvr_edge_ai.compiler import compile_pipeline
+from cmvr_edge_ai.config import load_config_data
+from cmvr_edge_ai.contracts import (
+    BoundingBox,
+    Detection,
+    DetectionAlert,
+    ImageFrame,
+)
+from cmvr_edge_ai.core import Envelope, Sink
+from cmvr_edge_ai.detection import (
+    DetectionModel,
+    DetectionModelRegistry,
+    DetectionModelSpec,
+)
+from cmvr_edge_ai.plugins import PluginKind, PluginSpec
+
+
+class _AlwaysViolationModel(DetectionModel):
+    def __init__(self) -> None:
+        self.load_calls = 0
+        self.predict_calls = 0
+        self.close_calls = 0
+
+    def load(self) -> None:
+        self.load_calls += 1
+
+    def predict(
+        self,
+        frame: ImageFrame,
+        labels: tuple[str, ...],
+        confidence: float,
+    ) -> Sequence[Detection]:
+        del frame, confidence
+        self.predict_calls += 1
+        if "No-Helmet" not in labels:
+            return ()
+        return (
+            Detection(
+                "No-Helmet",
+                0.95,
+                BoundingBox(1.0, 2.0, 20.0, 40.0),
+            ),
+        )
+
+    def close(self) -> None:
+        self.close_calls += 1
+
+
+class _CollectAlertSink(Sink):
+    def __init__(self) -> None:
+        self.alerts: list[Envelope[Any]] = []
+
+    async def consume(
+        self, envelope: Envelope[Any], input_port: str = "alerts"
+    ) -> None:
+        del input_port
+        self.alerts.append(envelope)
+
+
+async def _keep_event_loop_responsive() -> None:
+    while True:
+        await asyncio.sleep(0.01)
+
+
+def test_decoded_frames_flow_through_registered_model_and_repeat_gate() -> None:
+    pillow_image = pytest.importorskip("PIL.Image")
+    model = _AlwaysViolationModel()
+    models = DetectionModelRegistry()
+    models.register(
+        DetectionModelSpec(
+            model_id="fake-ppe@1",
+            name="Fake PPE",
+            supported_labels=("No-Helmet",),
+            factory=lambda options: model,
+            backend="fake",
+        )
+    )
+    registry = create_default_registry(
+        discover_entry_points=False,
+        model_registry=models,
+    )
+    sink = _CollectAlertSink()
+
+    def sink_factory(node_id: str, params: Mapping[str, Any]) -> Sink:
+        del node_id, params
+        return sink
+
+    registry.register(
+        PluginSpec(
+            plugin_id="test.alert_sink@1",
+            kind=PluginKind.SINK,
+            factory=sink_factory,
+            inputs={"alerts": "DetectionAlert/v1"},
+        )
+    )
+    width, height = 64, 48
+    frames = (
+        ImageFrame(bytes((0, 0, 255)) * (width * height), width, height, "BGR8"),
+        ImageFrame(bytes((0, 255, 0)) * (width * height), width, height, "BGR8"),
+        ImageFrame(bytes((255, 0, 0)) * (width * height), width, height, "BGR8"),
+    )
+    config = load_config_data(
+        {
+            "api_version": "cmvr.edge.ai/v1",
+            "pipelines": {
+                "ppe": {
+                    "nodes": {
+                        "frames": {
+                            "uses": "core.sequence_source@1",
+                            "with": {
+                                "items": list(frames),
+                                "schema_name": "ImageFrame",
+                            },
+                        },
+                        "detector": {
+                            "uses": "detection.model@1",
+                            "with": {
+                                "model": "fake-ppe@1",
+                                "detect_labels": ["No-Helmet"],
+                                "attach_frame": True,
+                            },
+                        },
+                        "gate": {
+                            "uses": "detection.repeat_gate@1",
+                            "with": {
+                                "time_source": "received",
+                                "alert_image": {
+                                    "enabled": True,
+                                    "jpeg_quality": 85,
+                                },
+                                "rules": [
+                                    {
+                                        "id": "no-helmet",
+                                        "labels": ["No-Helmet"],
+                                        "min_hits": 2,
+                                        "window_ms": 10_000,
+                                        "cooldown_ms": 30_000,
+                                    }
+                                ],
+                            },
+                        },
+                        "sink": {"uses": "test.alert_sink@1"},
+                    },
+                    "edges": [
+                        {"from": "frames.output", "to": "detector.frames"},
+                        {
+                            "from": "detector.detections",
+                            "to": "gate.detections",
+                        },
+                        {"from": "gate.alerts", "to": "sink.alerts"},
+                    ],
+                }
+            },
+        }
+    )
+
+    gate_health_details: list[str] = []
+
+    async def scenario() -> None:
+        loop = asyncio.get_running_loop()
+        executor = ThreadPoolExecutor(max_workers=2)
+        loop.set_default_executor(executor)
+        ticker = asyncio.create_task(_keep_event_loop_responsive())
+        try:
+            compiled = compile_pipeline(
+                config,
+                "ppe",
+                registry,
+                metadata={"thread_executor": executor},
+            )
+            await compiled.runtime.run()
+            gate_health = await compiled.runtime.nodes["gate"].health()
+            gate_health_details.append(gate_health.detail)
+        finally:
+            ticker.cancel()
+            await asyncio.gather(ticker, return_exceptions=True)
+            executor.shutdown(wait=True, cancel_futures=True)
+            loop._default_executor = None  # type: ignore[attr-defined]
+
+    asyncio.run(scenario())
+
+    assert model.load_calls == 1
+    assert model.predict_calls == 3
+    assert model.close_calls == 1
+    assert len(sink.alerts) == 1
+    alert = sink.alerts[0].payload
+    assert isinstance(alert, DetectionAlert)
+    assert alert.rule_id == "no-helmet"
+    assert alert.hit_count == 2
+    assert alert.labels == ("No-Helmet",)
+    assert sink.alerts[0].sequence == 1
+    assert alert.image is not None
+    assert alert.image.media_type == "image/jpeg"
+    assert (alert.image.width, alert.image.height) == (width, height)
+    assert alert.image.data.startswith(b"\xff\xd8")
+
+    with pillow_image.open(BytesIO(alert.image.data)) as decoded:
+        decoded.load()
+        assert decoded.format == "JPEG"
+        assert decoded.mode == "RGB"
+        assert decoded.size == (width, height)
+        # This pixel lies outside the annotation and proves that the evidence
+        # image came from sequence 1 (green), the frame that reached min_hits.
+        red, green, blue = decoded.getpixel((width - 1, height - 1))
+        assert green > 200
+        assert red < 40
+        assert blue < 40
+
+    assert gate_health_details
+    assert "processed_frames=3" in gate_health_details[0]
+    assert "alerts_emitted=1" in gate_health_details[0]
+    assert "alert_images_encoded=1" in gate_health_details[0]
diff --git a/tests/integration/test_dual_detection_pipeline.py b/tests/integration/test_dual_detection_pipeline.py
new file mode 100644
index 0000000..39d7511
--- /dev/null
+++ b/tests/integration/test_dual_detection_pipeline.py
@@ -0,0 +1,349 @@
+from __future__ import annotations
+
+import asyncio
+from collections.abc import Mapping, Sequence
+from concurrent.futures import ThreadPoolExecutor
+from typing import Any
+
+from cmvr_edge_ai.application import (
+    create_default_model_registry,
+    create_default_registry,
+)
+from cmvr_edge_ai.compiler import compile_pipeline
+from cmvr_edge_ai.config import load_config_data
+from cmvr_edge_ai.contracts import (
+    BoundingBox,
+    Detection,
+    DetectionAlert,
+    DetectionResult,
+    ImageFrame,
+)
+from cmvr_edge_ai.core import Envelope, Sink
+from cmvr_edge_ai.detection import (
+    DetectionModel,
+    DetectionModelRegistry,
+    DetectionModelSpec,
+)
+from cmvr_edge_ai.plugins import PluginKind, PluginSpec
+
+
+SIX_CLASS_MODEL_ID = "ppe-6classes-yolov8n@1"
+SIX_CLASS_LABELS = (
+    "Gloves",
+    "Vest",
+    "goggles",
+    "helmet",
+    "mask",
+    "safety_shoe",
+)
+
+
+class _FixedDetectionModel(DetectionModel):
+    def __init__(self, label: str) -> None:
+        self.label = label
+        self.load_calls = 0
+        self.close_calls = 0
+        self.frames: list[ImageFrame] = []
+        self.selected_labels: list[tuple[str, ...]] = []
+
+    def load(self) -> None:
+        self.load_calls += 1
+
+    def predict(
+        self,
+        frame: ImageFrame,
+        labels: tuple[str, ...],
+        confidence: float,
+    ) -> Sequence[Detection]:
+        del confidence
+        self.frames.append(frame)
+        self.selected_labels.append(labels)
+        return (
+            Detection(
+                label=self.label,
+                confidence=0.95,
+                box=BoundingBox(1.0, 2.0, 20.0, 30.0),
+            ),
+        )
+
+    def close(self) -> None:
+        self.close_calls += 1
+
+
+class _CollectSink(Sink):
+    def __init__(self) -> None:
+        self.envelopes: list[Envelope[Any]] = []
+        self.input_ports: list[str] = []
+
+    async def consume(
+        self,
+        envelope: Envelope[Any],
+        input_port: str = "input",
+    ) -> None:
+        self.envelopes.append(envelope)
+        self.input_ports.append(input_port)
+
+
+async def _keep_event_loop_responsive() -> None:
+    while True:
+        await asyncio.sleep(0.01)
+
+
+def test_default_registry_contains_six_class_ppe_model_contract() -> None:
+    registry = create_default_model_registry(discover_entry_points=False)
+
+    spec = registry.resolve(SIX_CLASS_MODEL_ID)
+
+    assert spec.model_id == SIX_CLASS_MODEL_ID
+    assert spec.supported_labels == SIX_CLASS_LABELS
+
+
+def test_decoder_fans_out_to_alert_and_raw_detection_branches() -> None:
+    ppe_model = _FixedDetectionModel("No-Helmet")
+    six_class_model = _FixedDetectionModel("helmet")
+    models = DetectionModelRegistry()
+    models.register(
+        DetectionModelSpec(
+            model_id="construction-ppe-yolov8@1",
+            name="Test Construction PPE",
+            supported_labels=("No-Helmet",),
+            factory=lambda options: ppe_model,
+            backend="fake",
+        )
+    )
+    models.register(
+        DetectionModelSpec(
+            model_id=SIX_CLASS_MODEL_ID,
+            name="Test Six-Class PPE",
+            supported_labels=SIX_CLASS_LABELS,
+            factory=lambda options: six_class_model,
+            backend="fake",
+        )
+    )
+    registry = create_default_registry(
+        discover_entry_points=False,
+        model_registry=models,
+    )
+    alert_sink = _CollectSink()
+    raw_sink = _CollectSink()
+    registry.register(
+        PluginSpec(
+            plugin_id="test.dual_alert_sink@1",
+            kind=PluginKind.SINK,
+            factory=lambda node_id, params: alert_sink,
+            inputs={"alerts": "DetectionAlert/v1"},
+        )
+    )
+    registry.register(
+        PluginSpec(
+            plugin_id="test.dual_raw_detection_sink@1",
+            kind=PluginKind.SINK,
+            factory=lambda node_id, params: raw_sink,
+            inputs={"detections": "DetectionResult/v1"},
+        )
+    )
+    width, height = 4, 3
+    frames = (
+        ImageFrame(bytes((0, 0, 255)) * (width * height), width, height, "BGR8"),
+        ImageFrame(bytes((0, 255, 0)) * (width * height), width, height, "BGR8"),
+    )
+    config = load_config_data(
+        {
+            "api_version": "cmvr.edge.ai/v1",
+            "pipelines": {
+                "dual_detection": {
+                    "nodes": {
+                        "source": {
+                            "uses": "core.sequence_source@1",
+                            "with": {
+                                "items": list(frames),
+                                "schema_name": "ImageFrame",
+                            },
+                        },
+                        "decoder": {"uses": "media.video_decoder.pyav@1"},
+                        "ppe_detector": {
+                            "uses": "detection.model@1",
+                            "with": {
+                                "model": "construction-ppe-yolov8@1",
+                                "detect_labels": ["No-Helmet"],
+                            },
+                        },
+                        "ppe_gate": {
+                            "uses": "detection.repeat_gate@1",
+                            "with": {
+                                "time_source": "received",
+                                "rules": [
+                                    {
+                                        "id": "no-helmet",
+                                        "labels": ["No-Helmet"],
+                                        "min_hits": 2,
+                                        "window_ms": 60_000,
+                                        "cooldown_ms": 60_000,
+                                        "scope": "source",
+                                    }
+                                ],
+                            },
+                        },
+                        "alert_sink": {"uses": "test.dual_alert_sink@1"},
+                        "six_class_detector": {
+                            "uses": "detection.model@1",
+                            "with": {
+                                "model": SIX_CLASS_MODEL_ID,
+                                "detect_labels": list(SIX_CLASS_LABELS),
+                                "attach_frame": False,
+                            },
+                        },
+                        "raw_sink": {
+                            "uses": "test.dual_raw_detection_sink@1"
+                        },
+                    },
+                    "edges": [
+                        {
+                            "from": "source.output",
+                            "to": "decoder.frames",
+                            "qos": {
+                                "profile": "video_contiguous",
+                                "capacity": 4,
+                                "overflow": "block",
+                            },
+                        },
+                        {
+                            "from": "decoder.frames",
+                            "to": "ppe_detector.frames",
+                            "qos": {
+                                "profile": "telemetry",
+                                "capacity": 4,
+                                "overflow": "block",
+                            },
+                        },
+                        {
+                            "from": "decoder.frames",
+                            "to": "six_class_detector.frames",
+                            "qos": {
+                                "profile": "telemetry",
+                                "capacity": 4,
+                                "overflow": "block",
+                            },
+                        },
+                        {
+                            "from": "ppe_detector.detections",
+                            "to": "ppe_gate.detections",
+                            "qos": {
+                                "profile": "telemetry",
+                                "capacity": 4,
+                                "overflow": "block",
+                            },
+                        },
+                        {
+                            "from": "ppe_gate.alerts",
+                            "to": "alert_sink.alerts",
+                            "qos": {
+                                "profile": "telemetry",
+                                "capacity": 4,
+                                "overflow": "block",
+                            },
+                        },
+                        {
+                            "from": "six_class_detector.detections",
+                            "to": "raw_sink.detections",
+                            "qos": {
+                                "profile": "telemetry",
+                                "capacity": 4,
+                                "overflow": "block",
+                            },
+                        },
+                    ],
+                }
+            },
+        }
+    )
+
+    async def scenario():  # type: ignore[no-untyped-def]
+        loop = asyncio.get_running_loop()
+        executor = ThreadPoolExecutor(max_workers=2)
+        loop.set_default_executor(executor)
+        ticker = asyncio.create_task(_keep_event_loop_responsive())
+        try:
+            compiled = compile_pipeline(
+                config,
+                "dual_detection",
+                registry,
+                metadata={"thread_executor": executor},
+            )
+            await compiled.runtime.run()
+            return compiled
+        finally:
+            ticker.cancel()
+            await asyncio.gather(ticker, return_exceptions=True)
+            executor.shutdown(wait=True, cancel_futures=True)
+            loop._default_executor = None  # type: ignore[attr-defined]
+
+    compiled = asyncio.run(scenario())
+
+    assert compiled.plugin_specs["ppe_gate"].outputs == {
+        "alerts": "DetectionAlert/v1"
+    }
+    assert compiled.plugin_specs["six_class_detector"].outputs == {
+        "detections": "DetectionResult/v1"
+    }
+
+    assert ppe_model.load_calls == ppe_model.close_calls == 1
+    assert six_class_model.load_calls == six_class_model.close_calls == 1
+    assert len(ppe_model.frames) == len(six_class_model.frames) == len(frames)
+    assert all(
+        ppe_frame is six_class_frame
+        for ppe_frame, six_class_frame in zip(
+            ppe_model.frames,
+            six_class_model.frames,
+        )
+    )
+    assert ppe_model.selected_labels == [("No-Helmet",)] * len(frames)
+    assert six_class_model.selected_labels == [SIX_CLASS_LABELS] * len(frames)
+
+    assert len(alert_sink.envelopes) == 1
+    alert_envelope = alert_sink.envelopes[0]
+    assert alert_sink.input_ports == ["alerts"]
+    assert alert_envelope.schema == "DetectionAlert/v1"
+    assert alert_envelope.source_id == "source"
+    assert alert_envelope.sequence == 1
+    assert isinstance(alert_envelope.payload, DetectionAlert)
+    assert alert_envelope.payload.model_id == "construction-ppe-yolov8@1"
+    assert alert_envelope.payload.rule_id == "no-helmet"
+
+    assert raw_sink.input_ports == ["detections", "detections"]
+    assert [envelope.schema for envelope in raw_sink.envelopes] == [
+        "DetectionResult/v1",
+        "DetectionResult/v1",
+    ]
+    assert [envelope.source_id for envelope in raw_sink.envelopes] == [
+        "source",
+        "source",
+    ]
+    assert [envelope.sequence for envelope in raw_sink.envelopes] == [0, 1]
+    assert all(
+        isinstance(envelope.payload, DetectionResult)
+        for envelope in raw_sink.envelopes
+    )
+    assert all(
+        envelope.payload.model_id == SIX_CLASS_MODEL_ID
+        for envelope in raw_sink.envelopes
+    )
+    assert all(
+        envelope.payload.source_frame is None
+        for envelope in raw_sink.envelopes
+    )
+    assert alert_envelope.trace_id == raw_sink.envelopes[1].trace_id
+
+    stats = compiled.runtime.edge_stats()
+    ppe_fanout = next(
+        value
+        for name, value in stats.items()
+        if name.endswith("decoder.frames->ppe_detector.frames")
+    )
+    six_class_fanout = next(
+        value
+        for name, value in stats.items()
+        if name.endswith("decoder.frames->six_class_detector.frames")
+    )
+    assert ppe_fanout.enqueued == len(frames)
+    assert six_class_fanout.enqueued == len(frames)
diff --git a/tests/integration/test_process_worker.py b/tests/integration/test_process_worker.py
new file mode 100644
index 0000000..6cd9683
--- /dev/null
+++ b/tests/integration/test_process_worker.py
@@ -0,0 +1,98 @@
+from __future__ import annotations
+
+import asyncio
+from concurrent.futures import ThreadPoolExecutor
+from time import sleep
+from typing import Any
+
+import pytest
+
+from cmvr_edge_ai.workers import (
+    PersistentProcessWorker,
+    ProcessWorkerError,
+    RemoteWorkerError,
+)
+
+
+def _worker_handler(payload: Any) -> Any:
+    if payload == "explode":
+        raise RuntimeError("intentional remote failure")
+    if payload == "slow":
+        sleep(0.3)
+        return "late-result"
+    return payload * 2
+
+
+def _worker_factory():  # type: ignore[no-untyped-def]
+    """Top-level factory so the spawn start method can import and pickle it."""
+
+    return _worker_handler
+
+
+async def _keep_restricted_event_loop_responsive() -> None:
+    """Provide wakeups where sandboxed self-pipe notifications are unavailable."""
+
+    while True:
+        await asyncio.sleep(0.01)
+
+
+def test_spawn_worker_returns_results_and_surfaces_remote_errors() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        loop = asyncio.get_running_loop()
+        host_executor = ThreadPoolExecutor(max_workers=2)
+        loop.set_default_executor(host_executor)
+        ticker = asyncio.create_task(_keep_restricted_event_loop_responsive())
+        worker = PersistentProcessWorker(
+            _worker_factory,
+            start_method="spawn",
+            queue_capacity=1,
+        )
+        try:
+            await worker.start()
+            assert await worker.submit(21, timeout_s=10) == 42
+            with pytest.raises(RemoteWorkerError) as captured:
+                await worker.submit("explode", timeout_s=10)
+            assert captured.value.remote_type == "RuntimeError"
+            assert "intentional remote failure" in str(captured.value)
+        finally:
+            await worker.stop(timeout_s=5)
+            ticker.cancel()
+            await asyncio.gather(ticker, return_exceptions=True)
+            host_executor.shutdown(wait=True, cancel_futures=True)
+            loop._default_executor = None  # type: ignore[attr-defined]
+        return worker
+
+    worker = asyncio.run(exercise())
+
+    assert worker.is_alive is False
+
+
+def test_timed_out_request_poisons_worker_and_rejects_later_submits() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        loop = asyncio.get_running_loop()
+        host_executor = ThreadPoolExecutor(max_workers=2)
+        loop.set_default_executor(host_executor)
+        ticker = asyncio.create_task(_keep_restricted_event_loop_responsive())
+        worker = PersistentProcessWorker(
+            _worker_factory,
+            start_method="spawn",
+            queue_capacity=1,
+        )
+        try:
+            await worker.start()
+            with pytest.raises(TimeoutError, match="timed out"):
+                await worker.submit("slow", timeout_s=0.05)
+            assert worker.is_alive is True
+            with pytest.raises(ProcessWorkerError, match="worker is poisoned"):
+                await worker.submit(22, timeout_s=1)
+        finally:
+            await worker.stop(timeout_s=2)
+            ticker.cancel()
+            await asyncio.gather(ticker, return_exceptions=True)
+            host_executor.shutdown(wait=True, cancel_futures=True)
+            loop._default_executor = None  # type: ignore[attr-defined]
+        return worker
+
+    worker = asyncio.run(exercise())
+
+    assert worker.is_alive is False
diff --git a/tests/integration/test_runtime.py b/tests/integration/test_runtime.py
new file mode 100644
index 0000000..098df83
--- /dev/null
+++ b/tests/integration/test_runtime.py
@@ -0,0 +1,235 @@
+from __future__ import annotations
+
+import asyncio
+from typing import Any
+
+from cmvr_edge_ai.core import (
+    ComponentContext,
+    Edge,
+    Envelope,
+    PipelineRuntime,
+    RuntimeState,
+    Sink,
+    Source,
+)
+
+
+class ListSource(Source):
+    def __init__(self, items: list[str]) -> None:
+        self.items = items
+
+    async def messages(self):  # type: ignore[no-untyped-def]
+        for sequence, item in enumerate(self.items):
+            yield Envelope(item, source_id="source", sequence=sequence)
+
+
+class CollectSink(Sink):
+    def __init__(self, delay_s: float = 0.0) -> None:
+        self.delay_s = delay_s
+        self.envelopes: list[Envelope[Any]] = []
+        self.input_ports: list[str] = []
+        self.stop_calls = 0
+
+    async def consume(self, envelope: Envelope[Any], input_port: str = "input") -> None:
+        if self.delay_s:
+            await asyncio.sleep(self.delay_s)
+        self.envelopes.append(envelope)
+        self.input_ports.append(input_port)
+
+    async def stop(self) -> None:
+        self.stop_calls += 1
+
+
+class BurstThenWaitSource(Source):
+    def __init__(self, items: list[str]) -> None:
+        self.items = items
+        self.produced = asyncio.Event()
+        self.release = asyncio.Event()
+        self.stop_calls = 0
+
+    async def setup(self, context: ComponentContext) -> None:
+        self.shutdown_event = context.shutdown_event
+
+    async def messages(self):  # type: ignore[no-untyped-def]
+        for sequence, item in enumerate(self.items):
+            yield Envelope(item, source_id="burst", sequence=sequence)
+        self.produced.set()
+        await self.release.wait()
+
+    async def stop(self) -> None:
+        self.stop_calls += 1
+
+
+class SetupBlockingSource(Source):
+    def __init__(
+        self,
+        setup_entered: asyncio.Event,
+        allow_setup: asyncio.Event,
+        run_forever: asyncio.Event,
+    ) -> None:
+        self.setup_entered = setup_entered
+        self.allow_setup = allow_setup
+        self.run_forever = run_forever
+        self.stop_calls = 0
+
+    async def setup(self, context: ComponentContext) -> None:
+        del context
+        self.setup_entered.set()
+        await self.allow_setup.wait()
+
+    async def messages(self):  # type: ignore[no-untyped-def]
+        await self.run_forever.wait()
+        if False:
+            yield Envelope("unreachable")
+
+    async def stop(self) -> None:
+        self.stop_calls += 1
+
+
+class BlockingStopSource(Source):
+    def __init__(
+        self,
+        run_forever: asyncio.Event,
+        stop_entered: asyncio.Event,
+        stop_cancelled: asyncio.Event,
+    ) -> None:
+        self.run_forever = run_forever
+        self.stop_entered = stop_entered
+        self.stop_cancelled = stop_cancelled
+
+    async def messages(self):  # type: ignore[no-untyped-def]
+        await self.run_forever.wait()
+        if False:
+            yield Envelope("unreachable")
+
+    async def stop(self) -> None:
+        self.stop_entered.set()
+        try:
+            await asyncio.Event().wait()
+        except asyncio.CancelledError:
+            self.stop_cancelled.set()
+            raise
+
+
+def test_runtime_fan_out_delivers_each_envelope_to_each_edge() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        source = ListSource(["one", "two", "three"])
+        left = CollectSink()
+        right = CollectSink()
+        runtime = PipelineRuntime(
+            {"source": source, "left": left, "right": right},
+            [
+                Edge("source", "left", capacity=2, name="left-edge"),
+                Edge("source", "right", capacity=2, name="right-edge"),
+            ],
+            pipeline_id="fanout",
+        )
+        await runtime.run()
+        return runtime, left, right
+
+    runtime, left, right = asyncio.run(exercise())
+
+    assert runtime.state is RuntimeState.STOPPED
+    assert [item.payload for item in left.envelopes] == ["one", "two", "three"]
+    assert [item.payload for item in right.envelopes] == ["one", "two", "three"]
+    assert all(
+        left_item is right_item
+        for left_item, right_item in zip(left.envelopes, right.envelopes)
+    )
+    assert left.input_ports == ["input"] * 3
+    assert set(runtime.edge_stats()) == {"left-edge", "right-edge"}
+
+
+def test_graceful_stop_drains_already_accepted_messages_and_stops_once() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        source = BurstThenWaitSource(["one", "two", "three"])
+        sink = CollectSink(delay_s=0.01)
+        runtime = PipelineRuntime(
+            {"source": source, "sink": sink},
+            [Edge("source", "sink", capacity=3, name="drain-edge")],
+            pipeline_id="graceful",
+            shutdown_timeout_s=1,
+        )
+
+        await runtime.start()
+        await asyncio.wait_for(source.produced.wait(), timeout=1)
+        await runtime.stop(graceful=True)
+        return source, sink, runtime
+
+    source, sink, runtime = asyncio.run(exercise())
+
+    assert [item.payload for item in sink.envelopes] == ["one", "two", "three"]
+    assert source.stop_calls == 1
+    assert sink.stop_calls == 1
+    assert runtime.state is RuntimeState.STOPPED
+    stats = runtime.edge_stats()["drain-edge"]
+    assert stats.enqueued == stats.dequeued == 3
+    assert stats.discarded_on_close == 0
+    assert stats.closed is True
+
+
+def test_stop_racing_start_waits_for_startup_then_tears_down_once() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        setup_entered = asyncio.Event()
+        allow_setup = asyncio.Event()
+        source = SetupBlockingSource(
+            setup_entered,
+            allow_setup,
+            asyncio.Event(),
+        )
+        sink = CollectSink()
+        runtime = PipelineRuntime(
+            {"source": source, "sink": sink},
+            [Edge("source", "sink")],
+            pipeline_id="start-stop-race",
+        )
+
+        start_task = asyncio.create_task(runtime.start())
+        await asyncio.wait_for(setup_entered.wait(), timeout=1)
+        stop_task = asyncio.create_task(runtime.stop(graceful=False, timeout_s=1))
+        await asyncio.sleep(0)
+        assert runtime.state is RuntimeState.STARTING
+        assert stop_task.done() is False
+
+        allow_setup.set()
+        await asyncio.wait_for(asyncio.gather(start_task, stop_task), timeout=1)
+        return runtime, source, sink
+
+    runtime, source, sink = asyncio.run(exercise())
+
+    assert runtime.state is RuntimeState.STOPPED
+    assert runtime.shutdown_event.is_set()
+    assert source.stop_calls == 1
+    assert sink.stop_calls == 1
+
+
+def test_blocking_component_stop_is_bounded_by_shutdown_timeout() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        stop_entered = asyncio.Event()
+        stop_cancelled = asyncio.Event()
+        source = BlockingStopSource(
+            asyncio.Event(),
+            stop_entered,
+            stop_cancelled,
+        )
+        sink = CollectSink()
+        runtime = PipelineRuntime(
+            {"source": source, "sink": sink},
+            [Edge("source", "sink")],
+            pipeline_id="bounded-stop",
+        )
+        await runtime.start()
+
+        loop = asyncio.get_running_loop()
+        started_at = loop.time()
+        await runtime.stop(graceful=False, timeout_s=0.05)
+        elapsed = loop.time() - started_at
+        await asyncio.sleep(0)
+        return runtime, stop_entered, stop_cancelled, elapsed
+
+    runtime, stop_entered, stop_cancelled, elapsed = asyncio.run(exercise())
+
+    assert stop_entered.is_set()
+    assert stop_cancelled.is_set()
+    assert elapsed < 0.5
+    assert runtime.state is RuntimeState.STOPPED
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diff --git a/tests/unit/test_agv_connector.py b/tests/unit/test_agv_connector.py
new file mode 100644
index 0000000..ff28921
--- /dev/null
+++ b/tests/unit/test_agv_connector.py
@@ -0,0 +1,44 @@
+from __future__ import annotations
+
+import pytest
+
+from cmvr_edge_ai.connectors.cmvr_es import CmvrAgvCommandSink
+
+
+VELOCITY_LIMITS = {
+    "vx": {"min": -0.5, "max": 0.5},
+    "vy": {"min": -0.3, "max": 0.3},
+    "wz": {"min": -1.0, "max": 1.0},
+}
+
+
+def test_agv_sink_requires_a_fixed_device() -> None:
+    with pytest.raises(ValueError, match="fixed, non-empty device_id"):
+        CmvrAgvCommandSink("agv", {"endpoint": "cmvr_es"})
+
+
+def test_unsafe_velocity_override_requires_a_real_boolean() -> None:
+    with pytest.raises(ValueError, match="must be a boolean"):
+        CmvrAgvCommandSink(
+            "agv",
+            {
+                "endpoint": "cmvr_es",
+                "device_id": "src1100",
+                # Environment expansion deliberately leaves plugin params as
+                # strings.  The dangerous override must not use bool("false").
+                "unsafe_allow_unleased_velocity": "false",
+                "velocity_limits": VELOCITY_LIMITS,
+            },
+        )
+
+
+def test_unsafe_velocity_override_requires_sink_side_limits() -> None:
+    with pytest.raises(ValueError, match="requires explicit velocity_limits"):
+        CmvrAgvCommandSink(
+            "agv",
+            {
+                "endpoint": "cmvr_es",
+                "device_id": "src1100",
+                "unsafe_allow_unleased_velocity": True,
+            },
+        )
diff --git a/tests/unit/test_bidi_stream.py b/tests/unit/test_bidi_stream.py
new file mode 100644
index 0000000..e37d857
--- /dev/null
+++ b/tests/unit/test_bidi_stream.py
@@ -0,0 +1,50 @@
+from __future__ import annotations
+
+import asyncio
+
+import pytest
+
+from cmvr_edge_ai.transports.grpc import (
+    BidiRequestStream,
+    BidiRequestStreamClosed,
+)
+
+
+def test_close_wakes_blocked_sender_without_accepting_its_request() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        stream = BidiRequestStream[str](capacity=1)
+        await stream.send("accepted")
+        blocked_sender = asyncio.create_task(stream.send("blocked"))
+        await asyncio.sleep(0)
+        assert blocked_sender.done() is False
+
+        await stream.close()
+        with pytest.raises(BidiRequestStreamClosed, match="closed"):
+            await blocked_sender
+        drained = [request async for request in stream]
+        return drained, stream.stats()
+
+    drained, stats = asyncio.run(exercise())
+
+    assert drained == ["accepted"]
+    assert stats.enqueued == 1
+    assert stats.blocked_puts == 1
+    assert stats.closed is True
+
+
+def test_bidirectional_request_stream_allows_exactly_one_consumer() -> None:
+    async def exercise() -> None:
+        stream = BidiRequestStream[str]()
+        await stream.send("first")
+        first_consumer = stream.__aiter__()
+        assert await anext(first_consumer) == "first"
+
+        second_consumer = stream.__aiter__()
+        with pytest.raises(RuntimeError, match="exactly one consumer"):
+            await anext(second_consumer)
+
+        await stream.close()
+        with pytest.raises(StopAsyncIteration):
+            await anext(first_consumer)
+
+    asyncio.run(exercise())
diff --git a/tests/unit/test_builtin_plugins.py b/tests/unit/test_builtin_plugins.py
new file mode 100644
index 0000000..d6922c3
--- /dev/null
+++ b/tests/unit/test_builtin_plugins.py
@@ -0,0 +1,24 @@
+from __future__ import annotations
+
+import asyncio
+
+from cmvr_edge_ai.plugins import PluginRegistry, register_builtin_plugins
+
+
+def test_builtin_source_cannot_emit_an_undeclared_dynamic_port() -> None:
+    registry = PluginRegistry()
+    register_builtin_plugins(registry)
+    source = registry.create(
+        "core.sequence_source@1",
+        "source",
+        {"items": ["message"], "output_port": "undeclared"},
+    )
+
+    async def collect():  # type: ignore[no-untyped-def]
+        return [emission async for emission in source.messages()]
+
+    emissions = asyncio.run(collect())
+    declared_ports = registry.resolve("core.sequence_source@1").outputs
+
+    assert [emission.port for emission in emissions] == ["output"]
+    assert all(emission.port in declared_ports for emission in emissions)
diff --git a/tests/unit/test_camera_connector.py b/tests/unit/test_camera_connector.py
new file mode 100644
index 0000000..bbc1fdb
--- /dev/null
+++ b/tests/unit/test_camera_connector.py
@@ -0,0 +1,576 @@
+from __future__ import annotations
+
+import asyncio
+import logging
+from collections import deque
+from types import SimpleNamespace
+from typing import Any
+
+import pytest
+
+import cmvr_edge_ai.connectors.cmvr_es.camera as camera_module
+from cmvr_edge_ai.connectors.cmvr_es import (
+    CmvrCameraRgbStreamSource,
+    CmvrServiceError,
+)
+from cmvr_edge_ai.contracts import ImageFrame
+from cmvr_edge_ai.core import Emission
+
+
+class _FakeCall:
+    def __init__(self, *events: Any) -> None:
+        self._events = deque(events)
+        self.cancel_count = 0
+
+    def __aiter__(self) -> _FakeCall:
+        return self
+
+    async def __anext__(self) -> Any:
+        if not self._events:
+            raise StopAsyncIteration
+        event = self._events.popleft()
+        if isinstance(event, BaseException):
+            raise event
+        return event
+
+    def cancel(self) -> bool:
+        self.cancel_count += 1
+        return True
+
+
+class _BlockingCall:
+    def __init__(self) -> None:
+        self.entered = asyncio.Event()
+        self._released = asyncio.Event()
+        self.cancel_count = 0
+
+    def __aiter__(self) -> _BlockingCall:
+        return self
+
+    async def __anext__(self) -> Any:
+        self.entered.set()
+        await self._released.wait()
+        raise asyncio.CancelledError
+
+    def cancel(self) -> bool:
+        self.cancel_count += 1
+        self._released.set()
+        return True
+
+
+class _ImmediateRetryEvent(asyncio.Event):
+    """Exercise reconnect paths without waiting for wall-clock backoff."""
+
+    async def wait(self) -> bool:
+        if self.is_set():
+            return True
+        raise TimeoutError
+
+
+class _OneProgressTickEvent:
+    """Cause exactly one heartbeat tick, then terminate its logging loop."""
+
+    def __init__(self) -> None:
+        self._done = False
+
+    def is_set(self) -> bool:
+        return self._done
+
+    async def wait(self) -> bool:
+        self._done = True
+        raise TimeoutError
+
+
+class _FakeStub:
+    def __init__(
+        self,
+        *calls: Any,
+        start_feedbacks: tuple[Any, ...] = (),
+    ) -> None:
+        self._calls = deque(calls)
+        self._start_feedbacks = deque(start_feedbacks)
+        self.events: list[str] = []
+        self.start_requests: list[Any] = []
+        self.start_timeouts: list[float | None] = []
+        self.start_count = 0
+        self.open_count = 0
+
+    async def StartCamera(
+        self,
+        request: Any,
+        *,
+        timeout: float | None = None,
+    ) -> Any:
+        self.events.append("start")
+        self.start_requests.append(request)
+        self.start_timeouts.append(timeout)
+        self.start_count += 1
+        if not self._start_feedbacks:
+            return _start_feedback()
+        feedback = self._start_feedbacks.popleft()
+        if isinstance(feedback, BaseException):
+            raise feedback
+        return feedback
+
+    def GetRGBImageStream(self, request_stream: Any) -> Any:
+        # The connector owns request-stream lifetime.  This fake only exercises
+        # response and reconnect behavior, so protobuf request objects are not
+        # imported or inspected.
+        del request_stream
+        self.events.append("stream")
+        self.open_count += 1
+        if not self._calls:
+            raise AssertionError("camera connector opened an unexpected stream")
+        return self._calls.popleft()
+
+
+def _start_feedback(
+    *,
+    success: bool = True,
+    error_message: str = "",
+) -> Any:
+    return SimpleNamespace(
+        header=SimpleNamespace(
+            success=success,
+            error_message=error_message,
+        )
+    )
+
+
+def _response(
+    remote_sequence: int,
+    *,
+    data: bytes = b"encoded-frame",
+    codec: str = "H264",
+    key_frame: bool = False,
+    width: int = 640,
+    height: int = 480,
+    seconds: int = 0,
+    nanos: int = 0,
+    success: bool = True,
+    error_message: str = "",
+) -> Any:
+    return SimpleNamespace(
+        header=SimpleNamespace(
+            success=success,
+            error_message=error_message,
+            timestamp=SimpleNamespace(seconds=seconds, nanos=nanos),
+        ),
+        color_frame=SimpleNamespace(
+            data=data,
+            width=width,
+            height=height,
+            codec=codec,
+            is_key_frame=key_frame,
+        ),
+        intrinsics=SimpleNamespace(
+            fx=100.0,
+            fy=101.0,
+            cx=50.0,
+            cy=51.0,
+            coeffs=(0.1, 0.2, 0.3, 0.4, 0.5),
+        ),
+        seq_no=remote_sequence,
+    )
+
+
+def _source(stub: Any, **params: Any) -> CmvrCameraRgbStreamSource:
+    configured = {
+        "endpoint": "cmvr_es",
+        "device_id": "camera-1",
+        "pixel_format": "BGR8",
+        "reconnect_initial_s": 0.001,
+        "reconnect_max_s": 0.002,
+        **params,
+    }
+    source = CmvrCameraRgbStreamSource("camera", configured)
+    # setup() is deliberately bypassed: these unit tests exercise stream state
+    # without importing generated protobuf bindings or constructing gRPC objects.
+    source._stub = stub  # type: ignore[attr-defined]
+    source._start_request = object()  # type: ignore[attr-defined]
+    source._stream_request = object()  # type: ignore[attr-defined]
+    source._shutdown_event = asyncio.Event()  # type: ignore[attr-defined]
+    source._rpc_timeout_s = 2.5  # type: ignore[attr-defined]
+    return source
+
+
+def test_reconnect_uses_local_monotonic_sequence_and_new_session_id(
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    session_ids = iter(("session-a", "session-b"))
+    monkeypatch.setattr(
+        camera_module,
+        "uuid4",
+        lambda: SimpleNamespace(hex=next(session_ids)),
+    )
+    first_call = _FakeCall(
+        _response(
+            900,
+            data=b"first",
+            key_frame=True,
+            seconds=12,
+            nanos=34,
+        )
+    )
+    second_call = _FakeCall(_response(3, data=b"second"))
+
+    stub = _FakeStub(first_call, second_call)
+
+    async def exercise():  # type: ignore[no-untyped-def]
+        source = _source(stub)
+        stream = source.messages()
+        first = await asyncio.wait_for(anext(stream), timeout=1)
+        second = await asyncio.wait_for(anext(stream), timeout=1)
+        await stream.aclose()
+        return first, second
+
+    first, second = asyncio.run(exercise())
+
+    assert isinstance(first, Emission)
+    assert isinstance(second, Emission)
+    assert first.port == second.port == "frames"
+    assert [first.envelope.sequence, second.envelope.sequence] == [0, 1]
+    assert [first.envelope.session_id, second.envelope.session_id] == [
+        "session-a",
+        "session-b",
+    ]
+    assert [
+        first.envelope.attributes["remote_sequence"],
+        second.envelope.attributes["remote_sequence"],
+    ] == [900, 3]
+    assert first.envelope.attributes["stream_session_id"] == "session-a"
+    assert second.envelope.attributes["stream_session_id"] == "session-b"
+    assert first.envelope.source_id == second.envelope.source_id == "camera-1"
+    assert first.envelope.captured_at_ns == 12_000_000_034
+    assert second.envelope.captured_at_ns is None
+    assert isinstance(first.envelope.payload, ImageFrame)
+    assert first.envelope.payload.data == b"first"
+    assert first.envelope.payload.codec == "H264"
+    assert first.envelope.payload.is_key_frame is True
+    assert first.envelope.payload.pixel_format == "BGR8"
+    assert first.envelope.payload.intrinsics is not None
+    assert first.envelope.payload.intrinsics.coefficients == (
+        0.1,
+        0.2,
+        0.3,
+        0.4,
+        0.5,
+    )
+    assert first_call.cancel_count == 1
+    assert second_call.cancel_count == 1
+    assert stub.events == ["start", "stream", "start", "stream"]
+    assert stub.start_count == stub.open_count == 2
+    assert stub.start_timeouts == [2.5, 2.5]
+    assert all(request is not None for request in stub.start_requests)
+
+
+def test_transport_failure_reconnects_to_a_new_call() -> None:
+    disconnected = _FakeCall(ConnectionError("temporary disconnect"))
+    recovered = _FakeCall(_response(77, data=b"recovered", key_frame=True))
+    stub = _FakeStub(disconnected, recovered)
+
+    async def exercise() -> Emission:
+        source = _source(stub)
+        stream = source.messages()
+        result = await asyncio.wait_for(anext(stream), timeout=1)
+        await stream.aclose()
+        assert isinstance(result, Emission)
+        return result
+
+    emission = asyncio.run(exercise())
+
+    assert stub.open_count == 2
+    assert stub.start_count == 2
+    assert stub.events == ["start", "stream", "start", "stream"]
+    assert disconnected.cancel_count == 1
+    assert recovered.cancel_count == 1
+    assert emission.envelope.sequence == 0
+    assert emission.envelope.attributes["remote_sequence"] == 77
+    assert emission.envelope.payload.data == b"recovered"
+
+
+def test_start_camera_rejection_prevents_stream_open() -> None:
+    stub = _FakeStub(
+        _FakeCall(_response(1)),
+        start_feedbacks=(
+            _start_feedback(
+                success=False,
+                error_message="camera is unavailable",
+            ),
+        ),
+    )
+
+    async def exercise() -> None:
+        source = _source(stub, reconnect=False)
+        with pytest.raises(CmvrServiceError, match="camera is unavailable"):
+            await asyncio.wait_for(anext(source.messages()), timeout=1)
+
+    asyncio.run(exercise())
+
+    assert stub.events == ["start"]
+    assert stub.start_count == 1
+    assert stub.start_timeouts == [2.5]
+    assert stub.open_count == 0
+
+
+def test_start_camera_transport_failure_is_retried_before_stream_open() -> None:
+    recovered = _FakeCall(_response(5, data=b"after-start-retry"))
+    stub = _FakeStub(
+        recovered,
+        start_feedbacks=(
+            ConnectionError("StartCamera unavailable"),
+            _start_feedback(),
+        ),
+    )
+
+    async def exercise() -> Emission:
+        source = _source(stub)
+        emission = await asyncio.wait_for(anext(source.messages()), timeout=1)
+        await source.stop()
+        assert isinstance(emission, Emission)
+        return emission
+
+    emission = asyncio.run(exercise())
+
+    assert stub.events == ["start", "start", "stream"]
+    assert stub.start_count == 2
+    assert stub.start_timeouts == [2.5, 2.5]
+    assert stub.open_count == 1
+    assert emission.envelope.payload.data == b"after-start-retry"
+
+
+def test_camera_stream_logs_the_complete_lifecycle(
+    caplog: pytest.LogCaptureFixture,
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    now_ns = 0
+
+    def advancing_clock() -> int:
+        nonlocal now_ns
+        now_ns += 2_000_000_000
+        return now_ns
+
+    elapsed_s = 0.0
+
+    def advancing_timer() -> float:
+        nonlocal elapsed_s
+        elapsed_s += 0.05
+        return elapsed_s
+
+    monkeypatch.setattr(camera_module, "monotonic_ns", advancing_clock)
+    monkeypatch.setattr(camera_module, "perf_counter", advancing_timer)
+    first_session = _FakeCall(
+        _response(10, data=b"first", key_frame=True),
+        _response(11, data=b"second"),
+        ConnectionError("stream interrupted"),
+    )
+    recovered_session = _FakeCall(_response(12, data=b"recovered"))
+    stub = _FakeStub(first_session, recovered_session)
+
+    async def exercise() -> None:
+        source = _source(stub, stream_log_interval_s=1)
+        source._shutdown_event = _ImmediateRetryEvent()  # type: ignore[attr-defined]
+        stream = source.messages()
+        await anext(stream)
+        await anext(stream)
+        await anext(stream)
+        await source.stop()
+        await stream.aclose()
+
+    with caplog.at_level(logging.INFO, logger=camera_module.__name__):
+        asyncio.run(exercise())
+
+    messages = [record.getMessage() for record in caplog.records]
+    expected_phrases = (
+        "camera start requested",
+        "camera start succeeded",
+        "camera stream opening",
+        "camera stream first frame",
+        "camera stream disconnected",
+        "camera source stopping",
+        "camera source stopped",
+    )
+    for phrase in expected_phrases:
+        assert any(phrase in message for message in messages), messages
+
+    assert sum("camera start requested" in message for message in messages) == 2
+    assert sum("camera start succeeded" in message for message in messages) == 2
+    assert sum("camera stream opening" in message for message in messages) == 2
+    first_frame_messages = [
+        message for message in messages if "camera stream first frame" in message
+    ]
+    assert len(first_frame_messages) == 2
+    assert "remote_sequence=10" in first_frame_messages[0]
+    assert "remote_sequence=12" in first_frame_messages[1]
+
+
+def test_camera_stream_progress_log_reports_window_statistics(
+    caplog: pytest.LogCaptureFixture,
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    monkeypatch.setattr(camera_module, "monotonic_ns", lambda: 3_000_000_000)
+    stats = camera_module._StreamStats(
+        session_id="session-progress",
+        opened_ns=0,
+        window_started_ns=1_000_000_000,
+        frames=3,
+        received_bytes=600,
+        key_frames=1,
+        window_frames=2,
+        window_bytes=500,
+        window_key_frames=1,
+        last_frame_ns=2_500_000_000,
+        last_remote_sequence=42,
+        codec="H264",
+        width=640,
+        height=480,
+    )
+    source = _source(_FakeStub(), stream_log_interval_s=1)
+
+    async def exercise() -> None:
+        await source._log_stream_progress(  # type: ignore[attr-defined]
+            stats,
+            _OneProgressTickEvent(),  # type: ignore[arg-type]
+        )
+
+    with caplog.at_level(logging.INFO, logger=camera_module.__name__):
+        asyncio.run(exercise())
+
+    messages = [
+        record.getMessage()
+        for record in caplog.records
+        if "camera stream progress" in record.getMessage()
+    ]
+    assert len(messages) == 1
+    message = messages[0]
+    assert "session=session-progress" in message
+    assert "total_frames=3" in message
+    assert "window_frames=2" in message
+    assert "window_bytes=500" in message
+    assert "last_remote_sequence=42" in message
+    assert "codec=H264" in message
+    assert "width=640" in message
+    assert "height=480" in message
+
+
+def test_reconnect_false_propagates_the_disconnect() -> None:
+    failed_call = _FakeCall(ConnectionError("camera cable disconnected"))
+    stub = _FakeStub(failed_call)
+
+    async def exercise() -> None:
+        source = _source(stub, reconnect=False)
+        with pytest.raises(ConnectionError, match="camera cable disconnected"):
+            await asyncio.wait_for(anext(source.messages()), timeout=1)
+
+    asyncio.run(exercise())
+
+    assert stub.open_count == 1
+    assert stub.start_count == 1
+    assert stub.events == ["start", "stream"]
+    assert failed_call.cancel_count == 1
+
+
+def test_max_reconnect_attempts_raises_after_the_allowed_retries() -> None:
+    first_failure = _FakeCall(ConnectionError("first disconnect"))
+    second_failure = _FakeCall(ConnectionError("second disconnect"))
+    stub = _FakeStub(first_failure, second_failure)
+
+    async def exercise() -> None:
+        source = _source(stub, max_reconnect_attempts=1)
+        with pytest.raises(
+            CmvrServiceError,
+            match="exceeded max_reconnect_attempts",
+        ):
+            await asyncio.wait_for(anext(source.messages()), timeout=1)
+
+    asyncio.run(exercise())
+
+    assert stub.open_count == 2
+    assert stub.start_count == 2
+    assert stub.events == ["start", "stream", "start", "stream"]
+    assert first_failure.cancel_count == 1
+    assert second_failure.cancel_count == 1
+
+
+def test_stop_cancels_the_active_stream_call() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        call = _BlockingCall()
+        stub = _FakeStub(call)
+        source = _source(stub)
+        stream = source.messages()
+        pending = asyncio.create_task(anext(stream))
+        await asyncio.wait_for(call.entered.wait(), timeout=1)
+
+        await source.stop()
+        with pytest.raises(asyncio.CancelledError):
+            await asyncio.wait_for(pending, timeout=1)
+        await stream.aclose()
+        return call, source, stub
+
+    call, source, stub = asyncio.run(exercise())
+
+    assert call.cancel_count == 1
+    assert stub.events == ["start", "stream"]
+    assert source._call is None  # type: ignore[attr-defined]
+
+
+@pytest.mark.parametrize(
+    ("params", "message"),
+    [
+        ({"typo": True}, "unknown camera source parameter"),
+        ({"device_id": None}, "non-empty device_id"),
+        ({"device_id": "  "}, "non-empty device_id"),
+        ({"device_id": 1}, "non-empty device_id"),
+        ({"pixel_format": ""}, "pixel_format must be a non-empty string"),
+        ({"pixel_format": 1}, "pixel_format must be a non-empty string"),
+        ({"reconnect": "true"}, "reconnect must be a boolean"),
+        ({"reconnect": 1}, "reconnect must be a boolean"),
+        ({"reconnect_initial_s": True}, "must be a positive number"),
+        ({"reconnect_initial_s": 0}, "must be a positive number"),
+        ({"reconnect_initial_s": -1}, "must be a positive number"),
+        ({"reconnect_initial_s": float("nan")}, "must be a positive number"),
+        ({"reconnect_initial_s": float("inf")}, "must be a positive number"),
+        ({"reconnect_max_s": 0}, "must be a positive number"),
+        ({"reconnect_max_s": float("nan")}, "must be a positive number"),
+        ({"stream_log_interval_s": True}, "must be a positive number"),
+        ({"stream_log_interval_s": 0}, "must be a positive number"),
+        ({"stream_log_interval_s": -1}, "must be a positive number"),
+        ({"stream_log_interval_s": float("nan")}, "must be a positive number"),
+        ({"stream_log_interval_s": float("inf")}, "must be a positive number"),
+        (
+            {"reconnect_initial_s": 2, "reconnect_max_s": 1},
+            "reconnect_max_s must be >= reconnect_initial_s",
+        ),
+        ({"max_reconnect_attempts": True}, "must be an integer or null"),
+        ({"max_reconnect_attempts": 1.5}, "must be an integer or null"),
+        ({"max_reconnect_attempts": "1"}, "must be an integer or null"),
+        ({"max_reconnect_attempts": -1}, "must not be negative"),
+    ],
+)
+def test_camera_reconnect_parameters_are_strictly_validated(
+    params: dict[str, Any],
+    message: str,
+) -> None:
+    configured: dict[str, Any] = {"device_id": "camera-1"}
+    configured.update(params)
+
+    with pytest.raises(ValueError, match=message):
+        CmvrCameraRgbStreamSource("camera", configured)
+
+
+def test_numeric_strings_are_accepted_for_environment_expanded_delays() -> None:
+    source = CmvrCameraRgbStreamSource(
+        "camera",
+        {
+            "device_id": "camera-1",
+            "reconnect_initial_s": "0.25",
+            "reconnect_max_s": "2.5",
+            "max_reconnect_attempts": 0,
+            "stream_log_interval_s": "12.5",
+        },
+    )
+
+    assert source._reconnect_initial_s == 0.25  # type: ignore[attr-defined]
+    assert source._reconnect_max_s == 2.5  # type: ignore[attr-defined]
+    assert source._max_reconnect_attempts == 0  # type: ignore[attr-defined]
+    assert source._stream_log_interval_s == 12.5  # type: ignore[attr-defined]
diff --git a/tests/unit/test_compiler.py b/tests/unit/test_compiler.py
new file mode 100644
index 0000000..59759af
--- /dev/null
+++ b/tests/unit/test_compiler.py
@@ -0,0 +1,372 @@
+from __future__ import annotations
+
+from collections.abc import Mapping
+from typing import Any
+
+import pytest
+
+from cmvr_edge_ai.compiler import PipelineCompileError, compile_pipeline
+from cmvr_edge_ai.config import load_config_data
+from cmvr_edge_ai.core import Envelope, Operator, Sink, Source
+from cmvr_edge_ai.plugins import PluginKind, PluginRegistry, PluginSpec
+
+
+class EmptySource(Source):
+    async def messages(self):  # type: ignore[no-untyped-def]
+        if False:
+            yield Envelope("unused")
+
+
+class IdentityOperator(Operator):
+    async def process(
+        self, envelope: Envelope[Any], input_port: str = "input"
+    ) -> Envelope[Any]:
+        del input_port
+        return envelope
+
+
+class NullSink(Sink):
+    async def consume(self, envelope: Envelope[Any], input_port: str = "input") -> None:
+        del envelope, input_port
+
+
+def _source_factory(node_id: str, params: Mapping[str, Any]) -> EmptySource:
+    del node_id, params
+    return EmptySource()
+
+
+def _operator_factory(node_id: str, params: Mapping[str, Any]) -> IdentityOperator:
+    del node_id, params
+    return IdentityOperator()
+
+
+def _sink_factory(node_id: str, params: Mapping[str, Any]) -> NullSink:
+    del node_id, params
+    return NullSink()
+
+
+def _registry() -> PluginRegistry:
+    registry = PluginRegistry()
+    registry.register(
+        PluginSpec(
+            "test.text_source@1",
+            PluginKind.SOURCE,
+            _source_factory,
+            outputs={"events": "TextEvent/v1"},
+        )
+    )
+    registry.register(
+        PluginSpec(
+            "test.text_operator@1",
+            PluginKind.OPERATOR,
+            _operator_factory,
+            inputs={"input": "TextEvent/v1"},
+            outputs={"events": "TextEvent/v1"},
+        )
+    )
+    registry.register(
+        PluginSpec(
+            "test.audio_sink@1",
+            PluginKind.SINK,
+            _sink_factory,
+            inputs={"input": "AudioChunk/v1"},
+        )
+    )
+    registry.register(
+        PluginSpec(
+            "test.any_sink@1",
+            PluginKind.SINK,
+            _sink_factory,
+            inputs={"input": "*"},
+        )
+    )
+    registry.register(
+        PluginSpec(
+            "test.command_source@1",
+            PluginKind.SOURCE,
+            _source_factory,
+            outputs={"commands": "RobotCommand/v1"},
+        )
+    )
+    registry.register(
+        PluginSpec(
+            "test.approved_source@1",
+            PluginKind.SOURCE,
+            _source_factory,
+            outputs={"commands": "ApprovedRobotCommand/v1"},
+        )
+    )
+    registry.register(
+        PluginSpec(
+            "test.safety_gate@1",
+            PluginKind.OPERATOR,
+            _operator_factory,
+            inputs={"input": "RobotCommand/v1"},
+            outputs={"commands": "ApprovedRobotCommand/v1"},
+            tags=frozenset({"safety_gate"}),
+        )
+    )
+    registry.register(
+        PluginSpec(
+            "test.approved_operator@1",
+            PluginKind.OPERATOR,
+            _operator_factory,
+            inputs={"input": "ApprovedRobotCommand/v1"},
+            outputs={"commands": "ApprovedRobotCommand/v1"},
+        )
+    )
+    registry.register(
+        PluginSpec(
+            "test.actuator@1",
+            PluginKind.SINK,
+            _sink_factory,
+            inputs={"commands": "ApprovedRobotCommand/v1"},
+            tags=frozenset({"actuator"}),
+        )
+    )
+    return registry
+
+
+def _config(nodes: dict[str, dict[str, Any]], edges: list[dict[str, Any]]):
+    return load_config_data(
+        {
+            "api_version": "cmvr.edge.ai/v1",
+            "pipelines": {
+                "test": {
+                    "nodes": nodes,
+                    "edges": edges,
+                }
+            },
+        }
+    )
+
+
+@pytest.mark.parametrize(
+    ("edge", "message"),
+    [
+        (
+            {"from": "source.missing", "to": "sink.input"},
+            "unknown output port",
+        ),
+        (
+            {"from": "source.events", "to": "sink.missing"},
+            "unknown input port",
+        ),
+    ],
+)
+def test_compile_rejects_unknown_plugin_ports(
+    edge: dict[str, str], message: str
+) -> None:
+    config = _config(
+        {
+            "source": {"uses": "test.text_source@1"},
+            "sink": {"uses": "test.any_sink@1"},
+        },
+        [edge],
+    )
+
+    with pytest.raises(PipelineCompileError, match=message):
+        compile_pipeline(config, "test", _registry())
+
+
+def test_compile_rejects_incompatible_schemas() -> None:
+    config = _config(
+        {
+            "source": {"uses": "test.text_source@1"},
+            "sink": {"uses": "test.audio_sink@1"},
+        },
+        [{"from": "source.events", "to": "sink.input"}],
+    )
+
+    with pytest.raises(PipelineCompileError, match="schema mismatch"):
+        compile_pipeline(config, "test", _registry())
+
+
+def test_compile_accepts_wildcard_schema() -> None:
+    config = _config(
+        {
+            "source": {"uses": "test.text_source@1"},
+            "sink": {"uses": "test.any_sink@1"},
+        },
+        [{"from": "source.events", "to": "sink.input"}],
+    )
+
+    compiled = compile_pipeline(config, "test", _registry())
+
+    assert compiled.pipeline_id == "test"
+    assert compiled.runtime.edges[0].source_port == "events"
+
+
+def test_video_contiguous_qos_requires_lossless_overflow() -> None:
+    nodes = {
+        "source": {"uses": "test.text_source@1"},
+        "operator": {"uses": "test.text_operator@1"},
+    }
+    accepted = _config(
+        nodes,
+        [
+            {
+                "from": "source.events",
+                "to": "operator.input",
+                "qos": {
+                    "profile": "video_contiguous",
+                    "capacity": 8,
+                    "overflow": "block",
+                },
+            }
+        ],
+    )
+
+    compiled = compile_pipeline(accepted, "test", _registry())
+    assert compiled.runtime.edges[0].capacity == 8
+
+    rejected = _config(
+        nodes,
+        [
+            {
+                "from": "source.events",
+                "to": "operator.input",
+                "qos": {
+                    "profile": "video_contiguous",
+                    "capacity": 2,
+                    "overflow": "drop_oldest",
+                },
+            }
+        ],
+    )
+    with pytest.raises(PipelineCompileError, match="does not allow"):
+        compile_pipeline(rejected, "test", _registry())
+
+
+def test_compile_rejects_direct_path_into_actuator() -> None:
+    config = _config(
+        {
+            "source": {"uses": "test.approved_source@1"},
+            "actuator": {"uses": "test.actuator@1"},
+        },
+        [{"from": "source.commands", "to": "actuator.commands"}],
+    )
+
+    with pytest.raises(PipelineCompileError, match="must pass through a safety gate"):
+        compile_pipeline(config, "test", _registry())
+
+
+def test_compile_accepts_actuator_only_after_safety_gate() -> None:
+    config = _config(
+        {
+            "source": {"uses": "test.command_source@1"},
+            "gate": {"uses": "test.safety_gate@1"},
+            "actuator": {"uses": "test.actuator@1"},
+        },
+        [
+            {"from": "source.commands", "to": "gate.input"},
+            {"from": "gate.commands", "to": "actuator.commands"},
+        ],
+    )
+
+    compiled = compile_pipeline(config, "test", _registry())
+
+    assert set(compiled.plugin_specs) == {"source", "gate", "actuator"}
+
+
+def test_compile_rejects_mixed_safe_and_unsafe_actuator_paths() -> None:
+    config = _config(
+        {
+            "source": {"uses": "test.command_source@1"},
+            "bypass": {"uses": "test.approved_source@1"},
+            "gate": {"uses": "test.safety_gate@1"},
+            "actuator": {"uses": "test.actuator@1"},
+        },
+        [
+            {"from": "source.commands", "to": "gate.input"},
+            {"from": "gate.commands", "to": "actuator.commands"},
+            {"from": "bypass.commands", "to": "actuator.commands"},
+        ],
+    )
+
+    with pytest.raises(PipelineCompileError, match="unsafe actuator"):
+        compile_pipeline(config, "test", _registry())
+
+
+def test_compile_rejects_operator_between_gate_and_actuator() -> None:
+    config = _config(
+        {
+            "source": {"uses": "test.command_source@1"},
+            "gate": {"uses": "test.safety_gate@1"},
+            "transform": {"uses": "test.approved_operator@1"},
+            "actuator": {"uses": "test.actuator@1"},
+        },
+        [
+            {"from": "source.commands", "to": "gate.input"},
+            {"from": "gate.commands", "to": "transform.input"},
+            {"from": "transform.commands", "to": "actuator.commands"},
+        ],
+    )
+
+    with pytest.raises(PipelineCompileError, match="safety gate directly"):
+        compile_pipeline(config, "test", _registry())
+
+
+@pytest.mark.parametrize(
+    ("node_options", "message"),
+    [
+        ({"execution": {"mode": "thread"}}, "execution settings not implemented"),
+        ({"resources": {"memory_mb": 256}}, "resource limits"),
+    ],
+)
+def test_compile_rejects_unenforced_node_settings(
+    node_options: dict[str, Any], message: str
+) -> None:
+    config = _config(
+        {
+            "source": {
+                "uses": "test.text_source@1",
+                **node_options,
+            }
+        },
+        [],
+    )
+
+    with pytest.raises(PipelineCompileError, match=message):
+        compile_pipeline(config, "test", _registry())
+
+
+@pytest.mark.parametrize(
+    ("field", "value"),
+    [
+        ("max_processes", 2),
+        ("process_start_method", "forkserver"),
+        ("health_bind", "127.0.0.1:8080"),
+        ("reserved_memory_mb", 256),
+    ],
+)
+def test_compile_rejects_reserved_runtime_fields(field: str, value: Any) -> None:
+    config = load_config_data(
+        {
+            "api_version": "cmvr.edge.ai/v1",
+            "runtime": {field: value},
+            "pipelines": {
+                "test": {"nodes": {"source": {"uses": "test.text_source@1"}}}
+            },
+        }
+    )
+
+    with pytest.raises(PipelineCompileError, match="reserved but not enforced"):
+        compile_pipeline(config, "test", _registry())
+
+
+def test_compile_rejects_pipeline_priority_without_scheduler() -> None:
+    config = load_config_data(
+        {
+            "api_version": "cmvr.edge.ai/v1",
+            "pipelines": {
+                "test": {
+                    "priority": "high",
+                    "nodes": {"source": {"uses": "test.text_source@1"}},
+                }
+            },
+        }
+    )
+
+    with pytest.raises(PipelineCompileError, match="no priority scheduler"):
+        compile_pipeline(config, "test", _registry())
diff --git a/tests/unit/test_config.py b/tests/unit/test_config.py
new file mode 100644
index 0000000..962c2c9
--- /dev/null
+++ b/tests/unit/test_config.py
@@ -0,0 +1,145 @@
+from __future__ import annotations
+
+import pytest
+from pydantic import ValidationError
+
+from cmvr_edge_ai.config import (
+    MissingEnvironmentVariable,
+    load_config_data,
+    load_config_text,
+)
+
+
+def test_load_config_expands_environment_at_every_level() -> None:
+    config = load_config_text(
+        """
+api_version: cmvr.edge.ai/v1
+runtime:
+  thread_workers: ${EDGE_THREADS:-2}
+endpoints:
+  robot:
+    transport: GRPC
+    target: env://CMVR_TARGET
+  platform:
+    transport: http
+    base_url: ${PLATFORM_URL:-http://127.0.0.1:8080}
+pipelines:
+  detection:
+    nodes:
+      source:
+        uses: core.sequence_source@1
+        with:
+          items: [env://SAMPLE_ITEM]
+""",
+        environ={
+            "CMVR_TARGET": "192.168.0.10:50052",
+            "EDGE_THREADS": "3",
+            "SAMPLE_ITEM": "frame-1",
+        },
+    )
+
+    assert config.runtime.thread_workers == 3
+    assert config.endpoints["robot"].transport == "grpc"
+    assert config.endpoints["robot"].target == "192.168.0.10:50052"
+    assert config.endpoints["platform"].base_url == "http://127.0.0.1:8080"
+    assert config.pipelines["detection"].nodes["source"].params["items"] == ["frame-1"]
+
+
+def test_load_config_rejects_missing_required_environment_variable() -> None:
+    with pytest.raises(MissingEnvironmentVariable, match="CMVR_TARGET"):
+        load_config_text(
+            """
+api_version: cmvr.edge.ai/v1
+endpoints:
+  robot:
+    transport: grpc
+    target: ${CMVR_TARGET}
+pipelines:
+  smoke:
+    nodes:
+      source:
+        uses: core.sequence_source@1
+""",
+            environ={},
+        )
+
+
+def test_config_rejects_edges_to_unknown_nodes() -> None:
+    with pytest.raises(ValidationError, match="references unknown node"):
+        load_config_data(
+            {
+                "api_version": "cmvr.edge.ai/v1",
+                "pipelines": {
+                    "invalid": {
+                        "nodes": {
+                            "source": {"uses": "test.source@1"},
+                        },
+                        "edges": [{"from": "source.output", "to": "missing.input"}],
+                    }
+                },
+            }
+        )
+
+
+def test_config_rejects_cycles_before_runtime_construction() -> None:
+    with pytest.raises(ValidationError, match="must be acyclic"):
+        load_config_data(
+            {
+                "api_version": "cmvr.edge.ai/v1",
+                "pipelines": {
+                    "cyclic": {
+                        "nodes": {
+                            "first": {"uses": "test.operator@1"},
+                            "second": {"uses": "test.operator@1"},
+                        },
+                        "edges": [
+                            {"from": "first.output", "to": "second.input"},
+                            {"from": "second.output", "to": "first.input"},
+                        ],
+                    }
+                },
+            }
+        )
+
+
+def test_config_models_forbid_unknown_fields() -> None:
+    with pytest.raises(ValidationError, match="extra_forbidden"):
+        load_config_data(
+            {
+                "api_version": "cmvr.edge.ai/v1",
+                "unexpected": True,
+                "pipelines": {
+                    "smoke": {"nodes": {"source": {"uses": "test.source@1"}}}
+                },
+            }
+        )
+
+
+@pytest.mark.parametrize(
+    ("endpoint", "message"),
+    [
+        ({"transport": "grpc"}, "gRPC endpoint requires target"),
+        ({"transport": "http"}, "HTTP endpoint requires base_url"),
+        (
+            {
+                "transport": "http",
+                "base_url": "https://platform.example",
+                "tls": False,
+            },
+            "HTTP endpoint must not set tls",
+        ),
+    ],
+)
+def test_builtin_endpoints_reject_incomplete_or_ambiguous_addresses(
+    endpoint: dict[str, object], message: str
+) -> None:
+    with pytest.raises(ValidationError, match=message):
+        load_config_data(
+            {
+                "api_version": "cmvr.edge.ai/v1",
+                "endpoints": {"external": endpoint},
+                "pipelines": {
+                    "smoke": {"nodes": {"source": {"uses": "test.source@1"}}}
+                },
+            }
+        )
diff --git a/tests/unit/test_detection_annotation.py b/tests/unit/test_detection_annotation.py
new file mode 100644
index 0000000..e96a1d5
--- /dev/null
+++ b/tests/unit/test_detection_annotation.py
@@ -0,0 +1,169 @@
+from __future__ import annotations
+
+from io import BytesIO
+from typing import Any
+
+import pytest
+
+from cmvr_edge_ai.contracts import BoundingBox, Detection, EncodedImage, ImageFrame
+from cmvr_edge_ai.detection.annotation import render_annotated_jpeg
+
+
+Image = pytest.importorskip("PIL.Image")
+ImageDraw = pytest.importorskip("PIL.ImageDraw")
+
+
+def _solid_frame(
+    *,
+    pixel_format: str,
+    rgb: tuple[int, int, int],
+    width: int = 64,
+    height: int = 48,
+) -> ImageFrame:
+    stored_pixel = rgb if pixel_format == "RGB8" else tuple(reversed(rgb))
+    return ImageFrame(
+        data=bytes(stored_pixel) * width * height,
+        width=width,
+        height=height,
+        pixel_format=pixel_format,
+    )
+
+
+def _detection(
+    label: str,
+    box: BoundingBox,
+    *,
+    confidence: float = 0.93,
+) -> Detection:
+    return Detection(label=label, confidence=confidence, box=box)
+
+
+def _record_drawing_calls(
+    monkeypatch: pytest.MonkeyPatch,
+) -> tuple[list[tuple[float, float, float, float]], list[str]]:
+    rectangle_calls: list[tuple[float, float, float, float]] = []
+    text_calls: list[str] = []
+    original_rectangle = ImageDraw.ImageDraw.rectangle
+    original_text = ImageDraw.ImageDraw.text
+
+    def recording_rectangle(
+        draw: ImageDraw.ImageDraw,
+        xy: Any,
+        *args: Any,
+        **kwargs: Any,
+    ) -> None:
+        coordinates = tuple(xy)
+        if len(coordinates) == 2 and all(
+            isinstance(point, (tuple, list)) for point in coordinates
+        ):
+            coordinates = tuple(
+                coordinate for point in coordinates for coordinate in point
+            )
+        if len(coordinates) == 4:
+            rectangle_calls.append(tuple(float(value) for value in coordinates))
+        original_rectangle(draw, xy, *args, **kwargs)
+
+    def recording_text(
+        draw: ImageDraw.ImageDraw,
+        xy: Any,
+        text: str,
+        *args: Any,
+        **kwargs: Any,
+    ) -> None:
+        text_calls.append(text)
+        original_text(draw, xy, text, *args, **kwargs)
+
+    monkeypatch.setattr(ImageDraw.ImageDraw, "rectangle", recording_rectangle)
+    monkeypatch.setattr(ImageDraw.ImageDraw, "text", recording_text)
+    return rectangle_calls, text_calls
+
+
+@pytest.mark.parametrize("pixel_format", ["BGR8", "RGB8"])
+def test_rendered_alert_image_preserves_color_and_is_a_decodable_jpeg(
+    pixel_format: str,
+) -> None:
+    expected_rgb = (24, 96, 184)
+    frame = _solid_frame(pixel_format=pixel_format, rgb=expected_rgb)
+    detection = _detection(
+        "No-Helmet",
+        BoundingBox(x_min=8.0, y_min=8.0, x_max=32.0, y_max=32.0),
+    )
+
+    encoded = render_annotated_jpeg(frame, (detection,), jpeg_quality=90)
+
+    assert isinstance(encoded, EncodedImage)
+    assert encoded.media_type == "image/jpeg"
+    assert (encoded.width, encoded.height) == (frame.width, frame.height)
+    assert encoded.data.startswith(b"\xff\xd8")
+    assert encoded.data.endswith(b"\xff\xd9")
+
+    with Image.open(BytesIO(encoded.data)) as decoded:
+        assert decoded.format == "JPEG"
+        assert decoded.size == (frame.width, frame.height)
+        rgb_image = decoded.convert("RGB")
+
+    # Sample well away from the box and its label. JPEG is lossy, so compare
+    # with a tolerance while still catching an RGB/BGR channel swap.
+    assert rgb_image.getpixel((frame.width - 3, frame.height - 3)) == pytest.approx(
+        expected_rgb,
+        abs=12,
+    )
+
+
+def test_renderer_draws_each_detection_box_and_label(
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    rectangle_calls, text_calls = _record_drawing_calls(monkeypatch)
+
+    frame = _solid_frame(pixel_format="BGR8", rgb=(0, 0, 0))
+    detections = (
+        _detection(
+            "No-Helmet",
+            BoundingBox(x_min=5.0, y_min=10.0, x_max=30.0, y_max=35.0),
+        ),
+        _detection(
+            "No-Vest",
+            BoundingBox(x_min=34.0, y_min=12.0, x_max=58.0, y_max=40.0),
+            confidence=0.81,
+        ),
+    )
+
+    render_annotated_jpeg(frame, detections, jpeg_quality=85)
+
+    assert (5.0, 10.0, 30.0, 35.0) in rectangle_calls
+    assert (34.0, 12.0, 58.0, 40.0) in rectangle_calls
+    assert any("No-Helmet" in text for text in text_calls)
+    assert any("No-Vest" in text for text in text_calls)
+
+
+def test_renderer_clips_out_of_bounds_box_and_skips_invalid_boxes(
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    rectangle_calls, text_calls = _record_drawing_calls(monkeypatch)
+    frame = _solid_frame(pixel_format="RGB8", rgb=(0, 0, 0))
+    detections = (
+        _detection(
+            "Clipped",
+            BoundingBox(x_min=-5.0, y_min=-10.0, x_max=80.0, y_max=60.0),
+        ),
+        _detection(
+            "Reversed",
+            BoundingBox(x_min=30.0, y_min=30.0, x_max=10.0, y_max=10.0),
+        ),
+        _detection(
+            "Outside",
+            BoundingBox(x_min=70.0, y_min=5.0, x_max=90.0, y_max=20.0),
+        ),
+        _detection(
+            "Not-Finite",
+            BoundingBox(x_min=float("nan"), y_min=1.0, x_max=10.0, y_max=10.0),
+        ),
+    )
+
+    render_annotated_jpeg(frame, detections, jpeg_quality=85)
+
+    assert (0.0, 0.0, 63.0, 47.0) in rectangle_calls
+    assert any("Clipped" in text for text in text_calls)
+    assert all("Reversed" not in text for text in text_calls)
+    assert all("Outside" not in text for text in text_calls)
+    assert all("Not-Finite" not in text for text in text_calls)
diff --git a/tests/unit/test_detection_compile.py b/tests/unit/test_detection_compile.py
new file mode 100644
index 0000000..38cbe15
--- /dev/null
+++ b/tests/unit/test_detection_compile.py
@@ -0,0 +1,105 @@
+from __future__ import annotations
+
+import pytest
+
+from cmvr_edge_ai.application import create_default_registry
+from cmvr_edge_ai.compiler import PipelineCompileError, compile_pipeline
+from cmvr_edge_ai.config import load_config_data
+
+
+def _config(
+    rule_label: str,
+    *,
+    attach_frame: bool = False,
+    alert_image: bool = False,
+):  # type: ignore[no-untyped-def]
+    return load_config_data(
+        {
+            "api_version": "cmvr.edge.ai/v1",
+            "pipelines": {
+                "detection": {
+                    "nodes": {
+                        "source": {
+                            "uses": "core.sequence_source@1",
+                            "with": {
+                                "items": [],
+                                "schema_name": "ImageFrame",
+                            },
+                        },
+                        "detector": {
+                            "uses": "detection.model@1",
+                            "with": {
+                                "model": "construction-ppe-yolov8@1",
+                                "detect_labels": ["No-Helmet"],
+                                "attach_frame": attach_frame,
+                                "model_options": {"weights": "/not-loaded.pt"},
+                            },
+                        },
+                        "gate": {
+                            "uses": "detection.repeat_gate@1",
+                            "with": {
+                                "alert_image": {"enabled": alert_image},
+                                "rules": [
+                                    {
+                                        "id": "ppe-rule",
+                                        "labels": [rule_label],
+                                        "min_hits": 2,
+                                        "window_ms": 1000,
+                                    }
+                                ]
+                            },
+                        },
+                    },
+                    "edges": [
+                        {"from": "source.output", "to": "detector.frames"},
+                        {
+                            "from": "detector.detections",
+                            "to": "gate.detections",
+                        },
+                    ],
+                }
+            },
+        }
+    )
+
+
+def test_compile_accepts_rule_label_selected_by_detector() -> None:
+    compiled = compile_pipeline(
+        _config("No-Helmet"),
+        "detection",
+        create_default_registry(discover_entry_points=False),
+    )
+
+    assert set(compiled.plugin_specs) == {"source", "detector", "gate"}
+
+
+def test_compile_rejects_rule_label_ignored_by_detector() -> None:
+    with pytest.raises(PipelineCompileError, match="No-Vest"):
+        compile_pipeline(
+            _config("No-Vest"),
+            "detection",
+            create_default_registry(discover_entry_points=False),
+        )
+
+
+def test_compile_accepts_alert_images_when_detector_attaches_frames() -> None:
+    compiled = compile_pipeline(
+        _config("No-Helmet", attach_frame=True, alert_image=True),
+        "detection",
+        create_default_registry(discover_entry_points=False),
+    )
+
+    assert compiled.runtime.nodes["detector"].attach_frame is True
+    assert compiled.runtime.nodes["gate"].alert_image_enabled is True
+
+
+def test_compile_rejects_alert_images_without_attached_frames() -> None:
+    with pytest.raises(
+        PipelineCompileError,
+        match="enables alert_image.*attach_frame=true",
+    ):
+        compile_pipeline(
+            _config("No-Helmet", attach_frame=False, alert_image=True),
+            "detection",
+            create_default_registry(discover_entry_points=False),
+        )
diff --git a/tests/unit/test_detection_operator.py b/tests/unit/test_detection_operator.py
new file mode 100644
index 0000000..f7d88f6
--- /dev/null
+++ b/tests/unit/test_detection_operator.py
@@ -0,0 +1,442 @@
+from __future__ import annotations
+
+import asyncio
+import logging
+import threading
+from collections.abc import Awaitable, Callable, Mapping, Sequence
+from concurrent.futures import ThreadPoolExecutor
+from typing import Any, TypeVar
+
+import pytest
+
+from cmvr_edge_ai.contracts import BoundingBox, Detection, DetectionResult, ImageFrame
+from cmvr_edge_ai.core.component import ComponentContext, Emission
+from cmvr_edge_ai.core.envelope import Envelope
+from cmvr_edge_ai.detection.base import DetectionModel
+from cmvr_edge_ai.detection.operator import DetectionOperator
+from cmvr_edge_ai.detection.registry import (
+    DetectionModelRegistry,
+    DetectionModelSpec,
+    UnknownDetectionModelError,
+)
+
+
+ResultT = TypeVar("ResultT")
+
+
+class RecordingDetectionModel(DetectionModel):
+    def __init__(self, detections: Sequence[Detection] = ()) -> None:
+        self.detections = tuple(detections)
+        self.load_calls = 0
+        self.predict_calls = 0
+        self.close_calls = 0
+        self.predict_arguments: list[tuple[ImageFrame, tuple[str, ...], float]] = []
+        self.call_threads: dict[str, list[int]] = {
+            "load": [],
+            "predict": [],
+            "close": [],
+        }
+
+    def load(self) -> None:
+        self.load_calls += 1
+        self.call_threads["load"].append(threading.get_ident())
+
+    def predict(
+        self,
+        frame: ImageFrame,
+        labels: tuple[str, ...],
+        confidence: float,
+    ) -> Sequence[Detection]:
+        self.predict_calls += 1
+        self.predict_arguments.append((frame, labels, confidence))
+        self.call_threads["predict"].append(threading.get_ident())
+        return self.detections
+
+    def close(self) -> None:
+        self.close_calls += 1
+        self.call_threads["close"].append(threading.get_ident())
+
+
+def _detection(label: str, confidence: float) -> Detection:
+    return Detection(
+        label=label,
+        confidence=confidence,
+        box=BoundingBox(x_min=1.0, y_min=2.0, x_max=11.0, y_max=22.0),
+    )
+
+
+def _frame(*, codec: str = "none") -> ImageFrame:
+    return ImageFrame(
+        data=bytes(range(12)),
+        width=2,
+        height=2,
+        pixel_format="BGR8",
+        codec=codec,
+        is_key_frame=codec != "none",
+    )
+
+
+def _envelope(frame: ImageFrame | None = None) -> Envelope[ImageFrame]:
+    return Envelope(
+        payload=_frame() if frame is None else frame,
+        schema_name="ImageFrame",
+        schema_version=1,
+        source_id="camera-right",
+        sequence=42,
+        captured_at_ns=1_234_000_000,
+        received_at_ns=1_235_000_000,
+        deadline_ns=1_500_000_000,
+        trace_id="trace-detection-42",
+        session_id="camera-session",
+        attributes={"site": "park-a"},
+    )
+
+
+def _registry(
+    model: RecordingDetectionModel,
+    *,
+    labels: tuple[str, ...] = ("Worker", "No-Helmet", "No-Vest"),
+    factory_options: list[dict[str, Any]] | None = None,
+) -> DetectionModelRegistry:
+    def factory(options: Mapping[str, Any]) -> DetectionModel:
+        if factory_options is not None:
+            factory_options.append(dict(options))
+        return model
+
+    registry = DetectionModelRegistry()
+    registry.register(
+        DetectionModelSpec(
+            model_id="construction-ppe@1",
+            name="Construction PPE",
+            supported_labels=labels,
+            factory=factory,
+            backend="fake",
+        )
+    )
+    return registry
+
+
+def _context(executor: ThreadPoolExecutor) -> ComponentContext:
+    return ComponentContext(
+        pipeline_id="detection-test",
+        node_id="detector",
+        shutdown_event=asyncio.Event(),
+        metadata={"thread_executor": executor},
+    )
+
+
+async def _keep_restricted_event_loop_responsive() -> None:
+    """Provide wakeups where sandboxed self-pipe notifications are unavailable."""
+
+    while True:
+        await asyncio.sleep(0.01)
+
+
+def _run_with_thread_executor(
+    exercise: Callable[[ThreadPoolExecutor], Awaitable[ResultT]],
+) -> ResultT:
+    async def runner() -> ResultT:
+        loop = asyncio.get_running_loop()
+        executor = ThreadPoolExecutor(max_workers=1)
+        loop.set_default_executor(executor)
+        ticker = asyncio.create_task(_keep_restricted_event_loop_responsive())
+        try:
+            return await exercise(executor)
+        finally:
+            ticker.cancel()
+            await asyncio.gather(ticker, return_exceptions=True)
+            executor.shutdown(wait=True, cancel_futures=True)
+            # asyncio.run() otherwise tries to shut down the same executor again.
+            loop._default_executor = None  # type: ignore[attr-defined]
+
+    return asyncio.run(runner())
+
+
+def test_operator_loads_once_predicts_and_closes_idempotently() -> None:
+    model = RecordingDetectionModel([_detection("Worker", 0.9)])
+    options_seen: list[dict[str, Any]] = []
+    operator = DetectionOperator(
+        "detector",
+        {
+            "model": "construction-ppe@1",
+            "model_options": {"weights": "/models/ppe.pt", "device": "cpu"},
+        },
+        model_registry=_registry(model, factory_options=options_seen),
+    )
+
+    async def scenario(executor: ThreadPoolExecutor) -> None:
+        await operator.setup(_context(executor))
+        result = await operator.process(_envelope())
+        await operator.stop()
+        await operator.stop()
+
+        assert isinstance(result, Emission)
+        assert model.load_calls == 1
+        assert model.predict_calls == 1
+        assert model.close_calls == 1
+        assert options_seen == [{"weights": "/models/ppe.pt", "device": "cpu"}]
+
+    _run_with_thread_executor(scenario)
+
+
+def test_operator_filters_selected_labels_and_per_label_confidence() -> None:
+    selected_worker = _detection("Worker", 0.50)
+    selected_violation = _detection("No-Helmet", 0.80)
+    model = RecordingDetectionModel(
+        [
+            _detection("Worker", 0.49),
+            selected_worker,
+            _detection("No-Helmet", 0.79),
+            selected_violation,
+            _detection("No-Vest", 0.99),
+        ]
+    )
+    operator = DetectionOperator(
+        "detector",
+        {
+            "model": "construction-ppe@1",
+            "detect_labels": ["Worker", "No-Helmet"],
+            "confidence": 0.50,
+            "label_confidence": {"No-Helmet": 0.80},
+        },
+        model_registry=_registry(model),
+    )
+
+    async def scenario(executor: ThreadPoolExecutor) -> None:
+        await operator.setup(_context(executor))
+        emission = await operator.process(_envelope())
+        await operator.stop()
+
+        assert isinstance(emission, Emission)
+        payload = emission.envelope.payload
+        assert isinstance(payload, DetectionResult)
+        assert payload.detections == (selected_worker, selected_violation)
+        assert operator.selected_labels == ("Worker", "No-Helmet")
+        assert model.predict_arguments[0][1:] == (("Worker", "No-Helmet"), 0.50)
+
+    _run_with_thread_executor(scenario)
+
+
+def test_operator_rejects_unknown_model_during_construction() -> None:
+    with pytest.raises(UnknownDetectionModelError, match="missing@1"):
+        DetectionOperator(
+            "detector",
+            {"model": "missing@1"},
+            model_registry=DetectionModelRegistry(),
+        )
+
+
+@pytest.mark.parametrize(
+    "params",
+    [
+        {
+            "model": "construction-ppe@1",
+            "detect_labels": ["Unknown-Label"],
+        },
+        {
+            "model": "construction-ppe@1",
+            "label_confidence": {"Unknown-Label": 0.9},
+        },
+    ],
+)
+def test_operator_rejects_unknown_labels_during_construction(
+    params: dict[str, Any],
+) -> None:
+    with pytest.raises(ValueError, match="Unknown-Label"):
+        DetectionOperator(
+            "detector",
+            params,
+            model_registry=_registry(RecordingDetectionModel()),
+        )
+
+
+def test_operator_rejects_encoded_frame_without_calling_model() -> None:
+    model = RecordingDetectionModel()
+    operator = DetectionOperator(
+        "detector",
+        {"model": "construction-ppe@1"},
+        model_registry=_registry(model),
+    )
+
+    async def scenario(executor: ThreadPoolExecutor) -> None:
+        await operator.setup(_context(executor))
+        with pytest.raises(ValueError, match="decoded ImageFrame"):
+            await operator.process(_envelope(_frame(codec="h264")))
+        await operator.stop()
+
+        assert model.predict_calls == 0
+
+    _run_with_thread_executor(scenario)
+
+
+def test_operator_emits_result_metadata_and_preserves_envelope_correlation() -> None:
+    source = _envelope()
+    expected_detection = _detection("No-Helmet", 0.93)
+    model = RecordingDetectionModel([expected_detection])
+    operator = DetectionOperator(
+        "detector",
+        {"model": "construction-ppe@1"},
+        model_registry=_registry(model),
+    )
+
+    async def scenario(executor: ThreadPoolExecutor) -> None:
+        await operator.setup(_context(executor))
+        emission = await operator.process(source)
+        await operator.stop()
+
+        assert isinstance(emission, Emission)
+        assert emission.port == "detections"
+        output = emission.envelope
+        assert output.schema == "DetectionResult/v1"
+        assert isinstance(output.payload, DetectionResult)
+        assert output.payload.detections == (expected_detection,)
+        assert output.payload.model_id == "construction-ppe@1"
+        assert output.payload.model_name == "Construction PPE"
+        assert output.payload.inference_ms >= 0.0
+        assert output.payload.source_frame is None
+        assert operator.attach_frame is False
+        assert output.source_id == source.source_id
+        assert output.sequence == source.sequence
+        assert output.captured_at_ns == source.captured_at_ns
+        assert output.received_at_ns == source.received_at_ns
+        assert output.deadline_ns == source.deadline_ns
+        assert output.trace_id == source.trace_id
+        assert output.session_id == source.session_id
+        assert output.attributes == {
+            "site": "park-a",
+            "detection_model_id": "construction-ppe@1",
+            "detection_model_name": "Construction PPE",
+        }
+
+    _run_with_thread_executor(scenario)
+
+
+def test_operator_attach_frame_keeps_the_decoded_frame_by_reference() -> None:
+    source = _envelope()
+    model = RecordingDetectionModel([_detection("No-Helmet", 0.93)])
+    operator = DetectionOperator(
+        "detector",
+        {"model": "construction-ppe@1", "attach_frame": True},
+        model_registry=_registry(model),
+    )
+
+    async def scenario(executor: ThreadPoolExecutor) -> None:
+        await operator.setup(_context(executor))
+        emission = await operator.process(source)
+        await operator.stop()
+
+        assert isinstance(emission, Emission)
+        assert isinstance(emission.envelope.payload, DetectionResult)
+        assert emission.envelope.payload.source_frame is source.payload
+        assert operator.attach_frame is True
+
+    _run_with_thread_executor(scenario)
+
+
+def test_blocking_model_methods_run_on_the_supplied_thread_pool() -> None:
+    event_loop_thread = threading.get_ident()
+    model = RecordingDetectionModel()
+    operator = DetectionOperator(
+        "detector",
+        {"model": "construction-ppe@1"},
+        model_registry=_registry(model),
+    )
+
+    async def scenario(executor: ThreadPoolExecutor) -> None:
+        await operator.setup(_context(executor))
+        await operator.process(_envelope())
+        await operator.stop()
+
+        assert all(len(thread_ids) == 1 for thread_ids in model.call_threads.values())
+        worker_threads = {
+            thread_id
+            for thread_ids in model.call_threads.values()
+            for thread_id in thread_ids
+        }
+        assert len(worker_threads) == 1
+        assert event_loop_thread not in worker_threads
+
+    _run_with_thread_executor(scenario)
+
+
+def test_max_fps_skips_frames_without_invoking_model_again() -> None:
+    model = RecordingDetectionModel()
+    operator = DetectionOperator(
+        "detector",
+        {"model": "construction-ppe@1", "max_fps": 0.001},
+        model_registry=_registry(model),
+    )
+
+    async def scenario(executor: ThreadPoolExecutor) -> None:
+        await operator.setup(_context(executor))
+        first = await operator.process(_envelope())
+        second = await operator.process(_envelope())
+        await operator.stop()
+
+        assert isinstance(first, Emission)
+        assert second is None
+        assert model.predict_calls == 1
+
+    _run_with_thread_executor(scenario)
+
+
+def test_operator_logs_model_load_and_configured_inference_heartbeat(
+    caplog: pytest.LogCaptureFixture,
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    timestamps = iter((0, 1_000_000_000, 6_000_000_000))
+    monkeypatch.setattr(
+        "cmvr_edge_ai.detection.operator.monotonic_ns",
+        lambda: next(timestamps),
+    )
+    model = RecordingDetectionModel([_detection("No-Helmet", 0.93)])
+    operator = DetectionOperator(
+        "detector",
+        {
+            "model": "construction-ppe@1",
+            "detect_labels": ["No-Helmet"],
+            "inference_log_interval_s": 5,
+        },
+        model_registry=_registry(model),
+    )
+
+    async def scenario(executor: ThreadPoolExecutor) -> None:
+        await operator.setup(_context(executor))
+        await operator.process(_envelope())
+        await operator.process(_envelope())
+        await operator.process(_envelope())
+        await operator.stop()
+
+    with caplog.at_level(logging.INFO, logger="cmvr_edge_ai.detection.operator"):
+        _run_with_thread_executor(scenario)
+
+    messages = [record.getMessage() for record in caplog.records]
+    assert any(
+        "detection model loaded node=detector model=construction-ppe@1" in message
+        for message in messages
+    )
+    inference_messages = [
+        message for message in messages if message.startswith("detection inference ")
+    ]
+    assert len(inference_messages) == 2
+    assert "total_frames=1" in inference_messages[0]
+    assert "window_frames=1" in inference_messages[0]
+    assert "window_detections=1" in inference_messages[0]
+    assert "hit_labels=No-Helmet:1" in inference_messages[0]
+    assert "total_frames=3" in inference_messages[1]
+    assert "window_frames=2" in inference_messages[1]
+    assert "window_detections=2" in inference_messages[1]
+    assert "hit_labels=No-Helmet:2" in inference_messages[1]
+
+
+@pytest.mark.parametrize("value", [0, -1, 3600.1, True])
+def test_operator_rejects_invalid_inference_log_interval(value: Any) -> None:
+    with pytest.raises(ValueError, match="inference_log_interval_s"):
+        DetectionOperator(
+            "detector",
+            {
+                "model": "construction-ppe@1",
+                "inference_log_interval_s": value,
+            },
+            model_registry=_registry(RecordingDetectionModel()),
+        )
diff --git a/tests/unit/test_detection_registry.py b/tests/unit/test_detection_registry.py
new file mode 100644
index 0000000..5ad32a5
--- /dev/null
+++ b/tests/unit/test_detection_registry.py
@@ -0,0 +1,177 @@
+from __future__ import annotations
+
+from collections.abc import Mapping, Sequence
+from dataclasses import dataclass
+from typing import Any
+
+import pytest
+
+from cmvr_edge_ai.contracts import Detection, ImageFrame
+from cmvr_edge_ai.detection.base import DetectionModel
+from cmvr_edge_ai.detection.registry import (
+    DetectionModelRegistry,
+    DetectionModelRegistryError,
+    DetectionModelSpec,
+    DuplicateDetectionModelError,
+    UnknownDetectionModelError,
+)
+
+
+class FakeDetectionModel(DetectionModel):
+    def load(self) -> None:
+        pass
+
+    def predict(
+        self,
+        frame: ImageFrame,
+        labels: tuple[str, ...],
+        confidence: float,
+    ) -> Sequence[Detection]:
+        del frame, labels, confidence
+        return ()
+
+    def close(self) -> None:
+        pass
+
+
+def _factory(params: Mapping[str, Any]) -> DetectionModel:
+    del params
+    return FakeDetectionModel()
+
+
+def _spec(model_id: str = "ppe-yolo@1") -> DetectionModelSpec:
+    return DetectionModelSpec(
+        model_id=model_id,
+        name="Construction PPE",
+        supported_labels=("Worker", "No-Helmet", "No-Vest"),
+        factory=_factory,
+        backend="ultralytics",
+        description="PPE violation detector",
+    )
+
+
+def test_detection_model_spec_preserves_order_and_copies_labels() -> None:
+    labels = ["Worker", "No-Helmet", "No-Vest"]
+    spec = DetectionModelSpec(
+        model_id="ppe@2",
+        name="  PPE detector  ",
+        supported_labels=labels,  # type: ignore[arg-type]
+        factory=_factory,
+        backend="  yolo  ",
+    )
+    labels.append("No-Glove")
+
+    assert spec.name == "PPE detector"
+    assert spec.backend == "yolo"
+    assert spec.supported_labels == ("Worker", "No-Helmet", "No-Vest")
+
+
+@pytest.mark.parametrize("model_id", ["ppe", "@1", "ppe@0", "ppe@-1", "ppe@v1"])
+def test_detection_model_spec_requires_positive_version(model_id: str) -> None:
+    with pytest.raises(ValueError, match="model id"):
+        DetectionModelSpec(
+            model_id=model_id,
+            name="PPE",
+            supported_labels=("Worker",),
+            factory=_factory,
+            backend="fake",
+        )
+
+
+@pytest.mark.parametrize(
+    ("overrides", "exception", "message"),
+    [
+        ({"name": "  "}, ValueError, "model name"),
+        ({"backend": ""}, ValueError, "model backend"),
+        ({"supported_labels": ()}, ValueError, "must not be empty"),
+        ({"supported_labels": ("Worker", "")}, ValueError, "non-empty strings"),
+        (
+            {"supported_labels": ("Worker", "Worker")},
+            ValueError,
+            "must be unique",
+        ),
+        ({"supported_labels": "Worker"}, TypeError, "ordered collection"),
+        ({"supported_labels": {"Worker"}}, TypeError, "ordered collection"),
+        ({"factory": None}, TypeError, "factory must be callable"),
+    ],
+)
+def test_detection_model_spec_rejects_invalid_metadata(
+    overrides: dict[str, Any], exception: type[Exception], message: str
+) -> None:
+    values: dict[str, Any] = {
+        "model_id": "ppe@1",
+        "name": "PPE",
+        "supported_labels": ("Worker",),
+        "factory": _factory,
+        "backend": "fake",
+    }
+    values.update(overrides)
+
+    with pytest.raises(exception, match=message):
+        DetectionModelSpec(**values)
+
+
+def test_registry_registers_resolves_and_sorts_specs() -> None:
+    registry = DetectionModelRegistry()
+    second = registry.register(_spec("z-model@1"))
+    first = registry.register(_spec("a-model@2"))
+
+    assert registry.resolve("z-model@1") is second
+    assert registry.specs() == (first, second)
+
+
+def test_registry_rejects_duplicate_and_reports_available_models() -> None:
+    registry = DetectionModelRegistry()
+    registry.register(_spec("ppe@1"))
+
+    with pytest.raises(DuplicateDetectionModelError, match="ppe@1"):
+        registry.register(_spec("ppe@1"))
+    with pytest.raises(UnknownDetectionModelError, match=r"available models: ppe@1"):
+        registry.resolve("missing@1")
+
+
+@dataclass
+class _EntryPoint:
+    name: str
+    value: Any
+
+    def load(self) -> Any:
+        return self.value
+
+
+class _EntryPoints(list[_EntryPoint]):
+    def select(self, *, group: str) -> _EntryPoints:
+        assert group == DetectionModelRegistry.ENTRY_POINT_GROUP
+        return self
+
+
+def test_registry_discovers_specs_and_registration_callbacks(monkeypatch) -> None:  # type: ignore[no-untyped-def]
+    def register_callback(registry: DetectionModelRegistry) -> None:
+        registry.register(_spec("callback@1"))
+
+    entry_points = _EntryPoints(
+        [
+            _EntryPoint("spec", _spec("spec@1")),
+            _EntryPoint("callback", register_callback),
+        ]
+    )
+    monkeypatch.setattr(
+        "cmvr_edge_ai.detection.registry.metadata.entry_points",
+        lambda: entry_points,
+    )
+    registry = DetectionModelRegistry()
+
+    registry.load_entry_points()
+
+    assert [spec.model_id for spec in registry.specs()] == ["callback@1", "spec@1"]
+
+
+def test_registry_rejects_invalid_entry_point(monkeypatch) -> None:  # type: ignore[no-untyped-def]
+    entry_points = _EntryPoints([_EntryPoint("invalid", object())])
+    monkeypatch.setattr(
+        "cmvr_edge_ai.detection.registry.metadata.entry_points",
+        lambda: entry_points,
+    )
+
+    with pytest.raises(DetectionModelRegistryError, match="invalid"):
+        DetectionModelRegistry().load_entry_points()
diff --git a/tests/unit/test_detection_trigger.py b/tests/unit/test_detection_trigger.py
new file mode 100644
index 0000000..8b7a6be
--- /dev/null
+++ b/tests/unit/test_detection_trigger.py
@@ -0,0 +1,692 @@
+from __future__ import annotations
+
+import asyncio
+from dataclasses import asdict
+import json
+import threading
+from concurrent.futures import ThreadPoolExecutor
+from typing import Any
+
+import pytest
+
+from cmvr_edge_ai.contracts.events import (
+    BoundingBox,
+    Detection,
+    DetectionAlert,
+    DetectionResult,
+)
+from cmvr_edge_ai.contracts.media import EncodedImage, ImageFrame
+from cmvr_edge_ai.core import ComponentContext, Emission, Envelope
+import cmvr_edge_ai.detection.rules as detection_rules
+from cmvr_edge_ai.detection.annotation import ImageAnnotationDependencyError
+from cmvr_edge_ai.detection.rules import DetectionTriggerOperator
+
+
+NS_PER_MS = 1_000_000
+
+
+def _frame(value: int = 0) -> ImageFrame:
+    return ImageFrame(bytes([value]) * 4 * 4 * 3, 4, 4, "BGR8")
+
+
+async def _keep_restricted_event_loop_responsive() -> None:
+    while True:
+        await asyncio.sleep(0.01)
+
+
+def _detection(
+    label: str = "No-Helmet",
+    confidence: float = 0.9,
+    *,
+    track_id: str | None = None,
+) -> Detection:
+    return Detection(
+        label=label,
+        confidence=confidence,
+        box=BoundingBox(1.0, 2.0, 30.0, 40.0),
+        track_id=track_id,
+    )
+
+
+def _envelope(
+    sequence: int,
+    at_ms: float,
+    *detections: Detection,
+    source_id: str = "camera-a",
+    captured: bool = False,
+    trace_id: str | None = None,
+    frame: ImageFrame | None = None,
+) -> Envelope[DetectionResult]:
+    timestamp_ns = int(at_ms * NS_PER_MS)
+    kwargs: dict[str, Any] = {
+        "payload": DetectionResult(
+            detections=tuple(detections),
+            model_id="construction-ppe-yolov8@1",
+            inference_ms=12.5,
+            model_name="Construction PPE YOLOv8",
+            source_frame=frame,
+        ),
+        "schema_name": "DetectionResult",
+        "schema_version": 1,
+        "source_id": source_id,
+        "sequence": sequence,
+        "received_at_ns": timestamp_ns,
+        "captured_at_ns": timestamp_ns if captured else None,
+    }
+    if trace_id is not None:
+        kwargs["trace_id"] = trace_id
+    return Envelope(**kwargs)
+
+
+def _operator(
+    *,
+    labels: list[str] | None = None,
+    min_hits: int = 3,
+    window_ms: float = 1_000,
+    cooldown_ms: float = 0,
+    min_confidence: float = 0.5,
+    scope: str = "source",
+    time_source: str = "received",
+    alert_image: dict[str, Any] | None = None,
+) -> DetectionTriggerOperator:
+    params: dict[str, Any] = {
+        "time_source": time_source,
+        "rules": [
+            {
+                "id": "missing-ppe",
+                "labels": labels or ["No-Helmet"],
+                "min_hits": min_hits,
+                "window_ms": window_ms,
+                "cooldown_ms": cooldown_ms,
+                "min_confidence": min_confidence,
+                "scope": scope,
+            }
+        ],
+    }
+    if alert_image is not None:
+        params["alert_image"] = alert_image
+    return DetectionTriggerOperator("trigger", params)
+
+
+def _process(
+    operator: DetectionTriggerOperator, envelope: Envelope[Any]
+) -> tuple[Emission, ...] | None:
+    return asyncio.run(operator.process(envelope))
+
+
+def _single_alert(
+    result: tuple[Emission, ...] | None
+) -> tuple[Emission, DetectionAlert]:
+    assert result is not None
+    assert len(result) == 1
+    emission = result[0]
+    assert isinstance(emission.envelope.payload, DetectionAlert)
+    return emission, emission.envelope.payload
+
+
+@pytest.mark.parametrize(
+    ("params", "message"),
+    [
+        ({"rules": [], "unexpected": True}, "unknown detection trigger"),
+        ({"rules": []}, "non-empty list"),
+        (
+            {"rules": [], "alert_image": "enabled"},
+            "alert_image must be a mapping",
+        ),
+        (
+            {"rules": [], "alert_image": {"unexpected": True}},
+            "alert_image has unknown field",
+        ),
+        (
+            {"rules": [], "alert_image": {"enabled": "true"}},
+            "alert_image.enabled must be a boolean",
+        ),
+        (
+            {"rules": [], "alert_image": {"jpeg_quality": True}},
+            "alert_image.jpeg_quality must be an integer",
+        ),
+        (
+            {"rules": [], "alert_image": {"jpeg_quality": 0}},
+            "alert_image.jpeg_quality must be between 1 and 95",
+        ),
+        (
+            {"rules": [], "alert_image": {"jpeg_quality": 96}},
+            "alert_image.jpeg_quality must be between 1 and 95",
+        ),
+        (
+            {
+                "rules": [
+                    {
+                        "id": "r",
+                        "labels": ["No-Helmet"],
+                        "min_hits": 2,
+                        "window_ms": 100,
+                        "typo": True,
+                    }
+                ]
+            },
+            "unknown field",
+        ),
+        (
+            {
+                "rules": [
+                    {
+                        "id": "r",
+                        "labels": ["No-Helmet", "No-Helmet"],
+                        "min_hits": 2,
+                        "window_ms": 100,
+                    }
+                ]
+            },
+            "duplicates",
+        ),
+        (
+            {
+                "rules": [
+                    {
+                        "id": "r",
+                        "labels": ["No-Helmet"],
+                        "min_hits": True,
+                        "window_ms": 100,
+                    }
+                ]
+            },
+            "must be an integer",
+        ),
+        (
+            {
+                "time_source": "wall",
+                "rules": [
+                    {
+                        "id": "r",
+                        "labels": ["No-Helmet"],
+                        "min_hits": 2,
+                        "window_ms": 100,
+                    }
+                ],
+            },
+            "time_source",
+        ),
+    ],
+)
+def test_trigger_configuration_is_strict(params: dict[str, Any], message: str) -> None:
+    with pytest.raises(ValueError, match=message):
+        DetectionTriggerOperator("trigger", params)
+
+
+def test_source_rule_counts_distinct_frames_not_boxes_and_preserves_metadata() -> None:
+    operator = _operator(min_hits=3, window_ms=1_000, min_confidence=0.7)
+
+    first = _envelope(
+        1,
+        0,
+        _detection(confidence=0.8),
+        _detection(confidence=0.91),
+        _detection("No-Vest", confidence=0.99),
+    )
+    assert _process(operator, first) is None
+    # Replaying a frame with the same source and sequence must not create a hit.
+    assert _process(operator, _envelope(1, 100, _detection(confidence=0.99))) is None
+    # Below-threshold detections do not count.
+    assert _process(operator, _envelope(2, 500, _detection(confidence=0.69))) is None
+    assert _process(operator, _envelope(2, 500, _detection(confidence=0.85))) is None
+
+    threshold = _envelope(
+        3,
+        1_000,
+        _detection(confidence=0.95),
+        trace_id="threshold-frame",
+    )
+    emission, alert = _single_alert(_process(operator, threshold))
+
+    assert emission.port == "alerts"
+    assert emission.envelope.schema == "DetectionAlert/v1"
+    assert emission.envelope.trace_id == "threshold-frame"
+    assert emission.envelope.source_id == "camera-a"
+    assert alert.rule_id == "missing-ppe"
+    assert alert.model_id == "construction-ppe-yolov8@1"
+    assert alert.model_name == "Construction PPE YOLOv8"
+    assert alert.labels == ("No-Helmet",)
+    assert alert.scope == "source"
+    assert alert.scope_id == "camera-a"
+    assert alert.hit_count == 3
+    assert alert.window_ms == 1_000
+    assert alert.first_seen_ns == 0
+    assert alert.last_seen_ns == 1_000 * NS_PER_MS
+    assert alert.triggered_at_ns == 1_000 * NS_PER_MS
+    assert alert.max_confidence == pytest.approx(0.95)
+    assert alert.detections == threshold.payload.detections
+    assert alert.event_id
+
+
+def test_invalid_detections_are_counted_and_never_reach_an_alert_payload() -> None:
+    operator = _operator(min_hits=1)
+    invalid_nan = Detection(
+        "No-Helmet",
+        0.99,
+        BoundingBox(float("nan"), 2.0, 30.0, 40.0),
+    )
+    invalid_reversed = Detection(
+        "No-Helmet",
+        0.98,
+        BoundingBox(30.0, 40.0, 1.0, 2.0),
+    )
+    valid = _detection(confidence=0.95)
+
+    assert _process(operator, _envelope(1, 0, invalid_nan, invalid_reversed)) is None
+    _, alert = _single_alert(
+        _process(
+            operator,
+            _envelope(2, 10, invalid_nan, invalid_reversed, valid),
+        )
+    )
+
+    assert alert.detections == (valid,)
+    # The remaining structured alert can be emitted by a strict JSON client.
+    json.dumps(asdict(alert), allow_nan=False)
+    health = asyncio.run(operator.health())
+    assert health.healthy is False
+    assert "invalid_detections=4" in health.detail
+
+
+def test_window_lower_boundary_is_inclusive_and_older_hits_expire() -> None:
+    inclusive = _operator(min_hits=2, window_ms=1_000)
+    assert _process(inclusive, _envelope(1, 0, _detection())) is None
+    _, alert = _single_alert(_process(inclusive, _envelope(2, 1_000, _detection())))
+    assert alert.first_seen_ns == 0
+
+    expired = _operator(min_hits=2, window_ms=1_000)
+    assert _process(expired, _envelope(1, 0, _detection())) is None
+    assert _process(expired, _envelope(2, 1_001, _detection())) is None
+
+
+def test_cooldown_does_not_accumulate_hits_and_requires_a_fresh_window() -> None:
+    operator = _operator(min_hits=2, window_ms=1_000, cooldown_ms=500)
+    assert _process(operator, _envelope(1, 0, _detection())) is None
+    _single_alert(_process(operator, _envelope(2, 100, _detection())))
+
+    # The threshold frame itself remains deduplicated even after the hit deque
+    # was reset, and new frames during cooldown are ignored rather than queued.
+    assert _process(operator, _envelope(2, 100, _detection())) is None
+    assert _process(operator, _envelope(3, 200, _detection())) is None
+    assert _process(operator, _envelope(4, 599, _detection())) is None
+    assert _process(operator, _envelope(5, 600, _detection())) is None
+    _, alert = _single_alert(_process(operator, _envelope(6, 700, _detection())))
+    assert alert.first_seen_ns == 600 * NS_PER_MS
+    assert alert.last_seen_ns == 700 * NS_PER_MS
+
+    health = asyncio.run(operator.health())
+    assert health.healthy is True
+    assert "alerts_emitted=2" in health.detail
+    assert "cooldown_suppressed=2" in health.detail
+    assert "duplicate_frames=1" in health.detail
+
+
+def test_source_state_is_isolated_per_camera() -> None:
+    operator = _operator(min_hits=2)
+    assert (
+        _process(operator, _envelope(1, 0, _detection(), source_id="camera-a")) is None
+    )
+    assert (
+        _process(operator, _envelope(1, 10, _detection(), source_id="camera-b")) is None
+    )
+
+    _, alert = _single_alert(
+        _process(operator, _envelope(2, 20, _detection(), source_id="camera-a"))
+    )
+    assert alert.scope_id == "camera-a"
+
+
+def test_track_rules_are_isolated_and_can_emit_multiple_alerts_per_frame() -> None:
+    operator = _operator(min_hits=2, scope="track")
+    first = _envelope(
+        1,
+        0,
+        _detection(track_id="worker-1"),
+        _detection(confidence=0.95, track_id="worker-1"),
+        _detection(track_id="worker-2"),
+        _detection(track_id=None),
+    )
+    assert _process(operator, first) is None
+
+    result = _process(
+        operator,
+        _envelope(
+            2,
+            100,
+            _detection(track_id="worker-1"),
+            _detection(track_id="worker-2"),
+        ),
+    )
+    assert result is not None
+    assert {item.envelope.payload.scope_id for item in result} == {
+        "worker-1",
+        "worker-2",
+    }
+    assert all(item.envelope.payload.hit_count == 2 for item in result)
+    assert all(item.envelope.payload.scope == "track" for item in result)
+    assert "untracked_detections=1" in asyncio.run(operator.health()).detail
+
+
+def test_multiple_rules_can_trigger_from_one_result() -> None:
+    operator = DetectionTriggerOperator(
+        "trigger",
+        {
+            "time_source": "received",
+            "rules": [
+                {
+                    "id": "helmet",
+                    "labels": ["No-Helmet"],
+                    "min_hits": 1,
+                    "window_ms": 100,
+                    "cooldown_ms": 0,
+                    "min_confidence": 0.5,
+                    "scope": "source",
+                },
+                {
+                    "id": "vest",
+                    "labels": ["No-Vest"],
+                    "min_hits": 1,
+                    "window_ms": 100,
+                    "cooldown_ms": 0,
+                    "min_confidence": 0.5,
+                    "scope": "source",
+                },
+            ],
+        },
+    )
+    result = _process(
+        operator,
+        _envelope(1, 0, _detection("No-Helmet"), _detection("No-Vest")),
+    )
+
+    assert result is not None
+    assert [item.envelope.payload.rule_id for item in result] == ["helmet", "vest"]
+
+
+def test_alert_image_is_encoded_once_only_when_the_threshold_frame_triggers(
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    render_calls: list[
+        tuple[int, ImageFrame, tuple[Detection, ...], int]
+    ] = []
+    encoded = EncodedImage(b"jpeg", "image/jpeg", 4, 4)
+
+    def render(
+        frame: ImageFrame,
+        detections: tuple[Detection, ...],
+        *,
+        jpeg_quality: int,
+    ) -> EncodedImage:
+        render_calls.append(
+            (threading.get_ident(), frame, tuple(detections), jpeg_quality)
+        )
+        return encoded
+
+    monkeypatch.setattr(detection_rules, "ensure_annotation_support", lambda: None)
+    monkeypatch.setattr(detection_rules, "render_annotated_jpeg", render)
+    operator = _operator(
+        min_hits=2,
+        alert_image={"enabled": True, "jpeg_quality": 73},
+    )
+    empty_frame = _frame(1)
+    first_hit_frame = _frame(2)
+    threshold_frame = _frame(3)
+    threshold_detection = _detection(confidence=0.96)
+
+    async def scenario() -> tuple[Emission, ...] | None:
+        event_loop_thread = threading.get_ident()
+        executor = ThreadPoolExecutor(max_workers=1)
+        ticker = asyncio.create_task(_keep_restricted_event_loop_responsive())
+        try:
+            await operator.setup(
+                ComponentContext(
+                    pipeline_id="detection",
+                    node_id="trigger",
+                    shutdown_event=asyncio.Event(),
+                    metadata={"thread_executor": executor},
+                )
+            )
+            assert (
+                await operator.process(_envelope(1, 0, frame=empty_frame)) is None
+            )
+            assert (
+                await operator.process(
+                    _envelope(2, 100, _detection(), frame=first_hit_frame)
+                )
+                is None
+            )
+            assert render_calls == []
+            result = await operator.process(
+                _envelope(
+                    3,
+                    200,
+                    threshold_detection,
+                    frame=threshold_frame,
+                )
+            )
+            assert render_calls[0][0] != event_loop_thread
+            return result
+        finally:
+            ticker.cancel()
+            await asyncio.gather(ticker, return_exceptions=True)
+            await operator.stop()
+            executor.shutdown(wait=True, cancel_futures=True)
+
+    result = asyncio.run(scenario())
+    _, alert = _single_alert(result)
+
+    assert len(render_calls) == 1
+    _, rendered_frame, rendered_detections, quality = render_calls[0]
+    assert rendered_frame is threshold_frame
+    assert rendered_detections == (threshold_detection,)
+    assert quality == 73
+    assert alert.image is encoded
+    health = asyncio.run(operator.health())
+    assert health.healthy is True
+    assert "alert_images_encoded=1" in health.detail
+    assert "alert_images_attached=1" in health.detail
+
+
+def test_multiple_alerts_from_one_frame_share_one_union_image(
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    helmet = _detection("No-Helmet", confidence=0.91)
+    vest = _detection("No-Vest", confidence=0.88)
+    threshold_frame = _frame(4)
+    encoded = EncodedImage(b"shared-jpeg", "image/jpeg", 4, 4)
+    render_calls: list[tuple[ImageFrame, tuple[Detection, ...]]] = []
+
+    def render(
+        frame: ImageFrame,
+        detections: tuple[Detection, ...],
+        *,
+        jpeg_quality: int,
+    ) -> EncodedImage:
+        assert jpeg_quality == 85
+        render_calls.append((frame, tuple(detections)))
+        return encoded
+
+    async def run_inline(
+        function: Any,
+        *args: Any,
+        executor: Any = None,
+        **kwargs: Any,
+    ) -> Any:
+        del executor
+        return function(*args, **kwargs)
+
+    monkeypatch.setattr(detection_rules, "render_annotated_jpeg", render)
+    monkeypatch.setattr(detection_rules, "run_blocking", run_inline)
+    operator = DetectionTriggerOperator(
+        "trigger",
+        {
+            "time_source": "received",
+            "alert_image": {"enabled": True},
+            "rules": [
+                {
+                    "id": "helmet",
+                    "labels": ["No-Helmet"],
+                    "min_hits": 1,
+                    "window_ms": 100,
+                },
+                {
+                    "id": "vest",
+                    "labels": ["No-Vest"],
+                    "min_hits": 1,
+                    "window_ms": 100,
+                },
+            ],
+        },
+    )
+
+    result = _process(
+        operator,
+        _envelope(1, 0, helmet, vest, frame=threshold_frame),
+    )
+
+    assert result is not None
+    assert render_calls == [(threshold_frame, (helmet, vest))]
+    assert [item.envelope.payload.rule_id for item in result] == ["helmet", "vest"]
+    assert all(item.envelope.payload.image is encoded for item in result)
+    health = asyncio.run(operator.health())
+    assert "alert_images_encoded=1" in health.detail
+    assert "alert_images_attached=2" in health.detail
+
+
+def test_missing_threshold_frame_is_fail_soft_and_commits_cooldown() -> None:
+    operator = _operator(
+        min_hits=1,
+        cooldown_ms=500,
+        alert_image={"enabled": True},
+    )
+
+    _, alert = _single_alert(_process(operator, _envelope(1, 0, _detection())))
+    assert alert.image is None
+    # The alert state is committed even though its evidence image is missing.
+    assert _process(operator, _envelope(1, 100, _detection())) is None
+    assert _process(operator, _envelope(2, 100, _detection())) is None
+
+    health = asyncio.run(operator.health())
+    assert health.healthy is False
+    assert "alerts_emitted=1" in health.detail
+    assert "duplicate_frames=1" in health.detail
+    assert "cooldown_suppressed=1" in health.detail
+    assert "alert_image_missing_frames=1" in health.detail
+    assert "alert_images_encoded=0" in health.detail
+
+
+def test_renderer_failure_is_fail_soft_and_commits_cooldown(
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    render_calls = 0
+
+    def fail_render(*args: Any, **kwargs: Any) -> EncodedImage:
+        nonlocal render_calls
+        render_calls += 1
+        raise ValueError("bad packed frame")
+
+    async def run_inline(
+        function: Any,
+        *args: Any,
+        executor: Any = None,
+        **kwargs: Any,
+    ) -> Any:
+        del executor
+        return function(*args, **kwargs)
+
+    monkeypatch.setattr(detection_rules, "render_annotated_jpeg", fail_render)
+    monkeypatch.setattr(detection_rules, "run_blocking", run_inline)
+    operator = _operator(
+        min_hits=1,
+        cooldown_ms=500,
+        alert_image={"enabled": True},
+    )
+    frame = _frame(5)
+
+    _, alert = _single_alert(
+        _process(operator, _envelope(1, 0, _detection(), frame=frame))
+    )
+    assert alert.image is None
+    assert render_calls == 1
+    assert _process(operator, _envelope(1, 100, _detection(), frame=frame)) is None
+    assert _process(operator, _envelope(2, 100, _detection(), frame=frame)) is None
+
+    health = asyncio.run(operator.health())
+    assert health.healthy is False
+    assert "alerts_emitted=1" in health.detail
+    assert "duplicate_frames=1" in health.detail
+    assert "cooldown_suppressed=1" in health.detail
+    assert "alert_image_failures=1" in health.detail
+    assert "alert_images_encoded=0" in health.detail
+
+
+def test_pillow_dependency_is_checked_only_when_alert_images_are_enabled(
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    checks = 0
+
+    def missing_pillow() -> None:
+        nonlocal checks
+        checks += 1
+        raise ImageAnnotationDependencyError("install the 'image' extra")
+
+    monkeypatch.setattr(detection_rules, "ensure_annotation_support", missing_pillow)
+    context = ComponentContext(
+        pipeline_id="detection",
+        node_id="trigger",
+        shutdown_event=asyncio.Event(),
+    )
+
+    asyncio.run(_operator(min_hits=1).setup(context))
+    assert checks == 0
+
+    enabled = _operator(
+        min_hits=1,
+        alert_image={"enabled": True},
+    )
+    with pytest.raises(ImageAnnotationDependencyError, match="image.*extra"):
+        asyncio.run(enabled.setup(context))
+    assert checks == 1
+
+
+def test_time_source_is_explicit_and_captured_requires_a_timestamp() -> None:
+    captured = _operator(min_hits=2, window_ms=10, time_source="captured")
+    with pytest.raises(ValueError, match="requires captured_at_ns"):
+        _process(captured, _envelope(1, 0, _detection()))
+
+    auto = _operator(min_hits=2, window_ms=10, time_source="auto")
+    first = _envelope(1, 0, _detection(), captured=True)
+    second = Envelope(
+        payload=first.payload,
+        schema_name="DetectionResult",
+        source_id="camera-a",
+        sequence=2,
+        captured_at_ns=20 * NS_PER_MS,
+        received_at_ns=5 * NS_PER_MS,
+    )
+    assert _process(auto, first) is None
+    # auto prefers capture time, so the first hit is outside this 10 ms window.
+    assert _process(auto, second) is None
+
+    received = _operator(min_hits=2, window_ms=10, time_source="received")
+    assert _process(received, first) is None
+    _single_alert(_process(received, second))
+
+
+def test_wrong_payload_and_out_of_order_frames_fail_closed() -> None:
+    operator = _operator(min_hits=2)
+    with pytest.raises(TypeError, match="expected DetectionResult"):
+        _process(
+            operator,
+            Envelope(
+                "not-a-detection",
+                source_id="camera-a",
+                sequence=1,
+                received_at_ns=0,
+            ),
+        )
+
+    assert _process(operator, _envelope(1, 100, _detection())) is None
+    assert _process(operator, _envelope(2, 99, _detection())) is None
+    assert "stale_frames=1" in asyncio.run(operator.health()).detail
diff --git a/tests/unit/test_edge_queue.py b/tests/unit/test_edge_queue.py
new file mode 100644
index 0000000..560c6cb
--- /dev/null
+++ b/tests/unit/test_edge_queue.py
@@ -0,0 +1,86 @@
+from __future__ import annotations
+
+import asyncio
+
+import pytest
+
+from cmvr_edge_ai.core import (
+    EdgeQueue,
+    EdgeQueueClosed,
+    EdgeQueueFull,
+    OverflowPolicy,
+    PutResult,
+)
+
+
+def test_drop_oldest_keeps_the_freshest_items_and_updates_stats() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        queue = EdgeQueue[int](2, OverflowPolicy.DROP_OLDEST, name="camera")
+        assert await queue.put(1) is PutResult.ENQUEUED
+        assert await queue.put(2) is PutResult.ENQUEUED
+        assert await queue.put(3) is PutResult.DROPPED_OLDEST
+        assert [await queue.get(), await queue.get()] == [2, 3]
+        await queue.close()
+        with pytest.raises(EdgeQueueClosed, match="camera"):
+            await queue.get()
+        return queue.stats()
+
+    stats = asyncio.run(exercise())
+
+    assert stats.enqueued == 3
+    assert stats.dequeued == 2
+    assert stats.dropped_oldest == 1
+    assert stats.high_watermark == 2
+    assert stats.closed is True
+
+
+def test_drop_newest_preserves_queued_items() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        queue = EdgeQueue[str](2, "drop_newest")
+        await queue.put("first")
+        await queue.put("second")
+        result = await queue.put("third")
+        items = [await queue.get(), await queue.get()]
+        return result, items, queue.stats()
+
+    result, items, stats = asyncio.run(exercise())
+
+    assert result is PutResult.DROPPED_NEWEST
+    assert items == ["first", "second"]
+    assert stats.enqueued == 2
+    assert stats.dropped_newest == 1
+
+
+def test_reject_policy_raises_without_mutating_contents() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        queue = EdgeQueue[str](1, "reject", name="control")
+        await queue.put("accepted")
+        with pytest.raises(EdgeQueueFull, match="control"):
+            await queue.put("rejected")
+        return await queue.get(), queue.stats()
+
+    item, stats = asyncio.run(exercise())
+
+    assert item == "accepted"
+    assert stats.enqueued == 1
+    assert stats.rejected == 1
+
+
+def test_block_policy_releases_producer_after_consumer_makes_space() -> None:
+    async def exercise():  # type: ignore[no-untyped-def]
+        queue = EdgeQueue[str](1, "block")
+        await queue.put("first")
+        pending_put = asyncio.create_task(queue.put("second"))
+        await asyncio.sleep(0)
+        assert pending_put.done() is False
+
+        first = await queue.get()
+        put_result = await asyncio.wait_for(pending_put, timeout=1)
+        second = await queue.get()
+        return first, second, put_result, queue.stats()
+
+    first, second, put_result, stats = asyncio.run(exercise())
+
+    assert (first, second) == ("first", "second")
+    assert put_result is PutResult.ENQUEUED
+    assert stats.blocked_puts == 1
diff --git a/tests/unit/test_http_json_sink.py b/tests/unit/test_http_json_sink.py
new file mode 100644
index 0000000..a7079d6
--- /dev/null
+++ b/tests/unit/test_http_json_sink.py
@@ -0,0 +1,505 @@
+from __future__ import annotations
+
+import asyncio
+import base64
+from copy import deepcopy
+from dataclasses import dataclass
+import json
+import logging
+from typing import Any
+
+import pytest
+
+import cmvr_edge_ai.connectors.platform.http_json as http_json
+from cmvr_edge_ai.connectors.platform.http_json import PlatformHttpJsonSink
+from cmvr_edge_ai.contracts import (
+    BoundingBox,
+    Detection,
+    DetectionAlert,
+    DetectionResult,
+    EncodedImage,
+    ImageFrame,
+)
+from cmvr_edge_ai.core.component import ComponentContext
+from cmvr_edge_ai.core.envelope import Envelope
+from cmvr_edge_ai.transports.http import HttpClientPool, HttpClientSettings
+
+
+class FakeHttpStatusError(RuntimeError):
+    def __init__(self, status_code: int) -> None:
+        self.status_code = status_code
+        super().__init__(f"HTTP status {status_code}")
+
+
+@dataclass
+class FakeResponse:
+    status_code: int
+
+    def raise_for_status(self) -> None:
+        if self.status_code >= 400:
+            raise FakeHttpStatusError(self.status_code)
+
+
+class FakeHttpClient:
+    def __init__(self, outcomes: list[FakeResponse | BaseException]) -> None:
+        self._outcomes = list(outcomes)
+        self.calls: list[dict[str, Any]] = []
+
+    async def post(
+        self,
+        path: str,
+        *,
+        json: dict[str, Any],
+        headers: dict[str, str],
+    ) -> FakeResponse:
+        self.calls.append(
+            {
+                "path": path,
+                "json": deepcopy(json),
+                "body_id": id(json),
+                "headers": dict(headers),
+            }
+        )
+        if not self._outcomes:
+            raise AssertionError("fake HTTP client has no configured outcome")
+        outcome = self._outcomes.pop(0)
+        if isinstance(outcome, BaseException):
+            raise outcome
+        return outcome
+
+
+class FakeHttpClientPool(HttpClientPool):
+    def __init__(self, client: FakeHttpClient) -> None:
+        self.client = client
+        self.get_calls: list[tuple[str, HttpClientSettings]] = []
+
+    async def get(
+        self, endpoint_id: str, settings: HttpClientSettings
+    ) -> FakeHttpClient:
+        self.get_calls.append((endpoint_id, settings))
+        return self.client
+
+
+def _alert(
+    event_id: str = "ppe-event-123",
+    *,
+    image: EncodedImage | None = None,
+) -> DetectionAlert:
+    detection = Detection(
+        label="No-Helmet",
+        confidence=0.94,
+        box=BoundingBox(x_min=10.0, y_min=20.0, x_max=100.0, y_max=200.0),
+    )
+    return DetectionAlert(
+        event_id=event_id,
+        rule_id="no-helmet-rule",
+        model_id="construction-ppe@1",
+        model_name="Construction PPE",
+        labels=("No-Helmet",),
+        scope="source",
+        scope_id="right-camera",
+        hit_count=3,
+        window_ms=2_000.0,
+        first_seen_ns=1_000_000_000,
+        last_seen_ns=2_000_000_000,
+        triggered_at_ns=2_000_000_000,
+        max_confidence=0.94,
+        detections=(detection,),
+        image=image,
+    )
+
+
+def _envelope(payload: Any, *, trace_id: str = "trace-fallback-456") -> Envelope[Any]:
+    return Envelope(
+        payload=payload,
+        schema_name=(
+            "DetectionAlert" if isinstance(payload, DetectionAlert) else "opaque"
+        ),
+        schema_version=1,
+        source_id="right-camera",
+        sequence=17,
+        captured_at_ns=2_000_000_000,
+        received_at_ns=2_010_000_000,
+        trace_id=trace_id,
+        attributes={"site": "park-a"},
+    )
+
+
+async def _setup_sink(
+    client: FakeHttpClient,
+    **params: Any,
+) -> PlatformHttpJsonSink:
+    sink = PlatformHttpJsonSink(
+        "platform",
+        {
+            "endpoint": "platform",
+            "path": "/v1/detection-alerts",
+            **params,
+        },
+    )
+    pool = FakeHttpClientPool(client)
+    context = ComponentContext(
+        pipeline_id="detection",
+        node_id="platform",
+        shutdown_event=asyncio.Event(),
+        metadata={
+            "endpoints": {
+                "platform": {
+                    "base_url": "http://platform.invalid",
+                    "timeout_s": 1.0,
+                    "metadata": {},
+                    "options": {},
+                }
+            },
+            "http_client_pool": pool,
+        },
+    )
+    await sink.setup(context)
+    assert pool.get_calls[0][0] == "platform"
+    return sink
+
+
+def test_detection_alert_event_id_is_the_idempotency_key() -> None:
+    async def scenario() -> None:
+        client = FakeHttpClient([FakeResponse(200)])
+        sink = await _setup_sink(client, max_attempts=1)
+
+        await sink.consume(_envelope(_alert()), input_port="alerts")
+
+        assert len(client.calls) == 1
+        call = client.calls[0]
+        assert call["headers"] == {"Idempotency-Key": "ppe-event-123"}
+        assert call["path"] == "/v1/detection-alerts"
+        assert call["json"]["input_port"] == "alerts"
+        assert call["json"]["payload"]["event_id"] == "ppe-event-123"
+        assert call["json"]["payload"]["image"] is None
+
+    asyncio.run(scenario())
+
+
+def test_detection_alert_image_has_a_flat_base64_wire_shape() -> None:
+    async def scenario() -> None:
+        jpeg = b"\xff\xd8\xff\xe0annotated-image\xff\xd9"
+        image = EncodedImage(
+            data=jpeg,
+            media_type="image/jpeg",
+            width=1280,
+            height=720,
+        )
+        client = FakeHttpClient([FakeResponse(200)])
+        sink = await _setup_sink(client, max_attempts=1)
+
+        await sink.consume(_envelope(_alert(image=image)), input_port="alerts")
+
+        body = client.calls[0]["json"]
+        payload = body["payload"]
+        assert payload["image"] == {
+            "media_type": "image/jpeg",
+            "width": 1280,
+            "height": 720,
+            "encoding": "base64",
+            "data": base64.b64encode(jpeg).decode("ascii"),
+        }
+        assert (
+            base64.b64decode(payload["image"]["data"], validate=True) == jpeg
+        )
+        assert payload["detections"][0] == {
+            "label": "No-Helmet",
+            "confidence": 0.94,
+            "box": {
+                "x_min": 10.0,
+                "y_min": 20.0,
+                "x_max": 100.0,
+                "y_max": 200.0,
+            },
+            "track_id": None,
+        }
+        # The fake receives the pre-serialization dict; make sure a real JSON
+        # encoder can consume the exact body without any remaining bytes.
+        json.dumps(body)
+
+    asyncio.run(scenario())
+
+
+def test_transient_detection_source_frame_is_never_serialized() -> None:
+    async def scenario() -> None:
+        raw_frame = ImageFrame(bytes(range(12)), 2, 2, "BGR8")
+        result = DetectionResult(
+            detections=(
+                Detection(
+                    "No-Helmet",
+                    0.9,
+                    BoundingBox(1.0, 0.0, 2.0, 2.0),
+                ),
+            ),
+            model_id="construction-ppe@1",
+            inference_ms=3.5,
+            source_frame=raw_frame,
+        )
+        client = FakeHttpClient([FakeResponse(200)])
+        sink = await _setup_sink(client, max_attempts=1)
+
+        await sink.consume(_envelope(result), input_port="detections")
+
+        payload = client.calls[0]["json"]["payload"]
+        assert "source_frame" not in payload
+        assert payload["detections"][0]["label"] == "No-Helmet"
+        assert base64.b64encode(raw_frame.data).decode("ascii") not in json.dumps(
+            client.calls[0]["json"]
+        )
+
+    asyncio.run(scenario())
+
+
+def test_payload_without_event_id_falls_back_to_envelope_trace_id() -> None:
+    async def scenario() -> None:
+        client = FakeHttpClient([FakeResponse(204)])
+        sink = await _setup_sink(client, max_attempts=1)
+
+        await sink.consume(_envelope({"status": "ok"}))
+
+        assert client.calls[0]["headers"] == {"Idempotency-Key": "trace-fallback-456"}
+
+    asyncio.run(scenario())
+
+
+@pytest.mark.parametrize(
+    "outcomes",
+    [
+        [FakeResponse(503), FakeResponse(503), FakeResponse(200)],
+        [OSError("offline"), TimeoutError("timed out"), FakeResponse(200)],
+    ],
+    ids=("retryable-status", "network-errors"),
+)
+def test_retryable_failures_retry_to_max_attempts_with_an_unchanged_body(
+    outcomes: list[FakeResponse | BaseException],
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    async def scenario() -> None:
+        encode_calls = 0
+        original_b64encode = http_json.base64.b64encode
+
+        def recording_b64encode(value: bytes) -> bytes:
+            nonlocal encode_calls
+            encode_calls += 1
+            return original_b64encode(value)
+
+        monkeypatch.setattr(http_json.base64, "b64encode", recording_b64encode)
+        client = FakeHttpClient(outcomes)
+        sink = await _setup_sink(
+            client,
+            max_attempts=3,
+            retry_initial_s=0,
+            retry_max_s=0,
+        )
+        envelope = _envelope(
+            _alert(image=EncodedImage(b"jpeg", "image/jpeg", 2, 2))
+        )
+
+        await sink.consume(envelope)
+
+        assert len(client.calls) == 3
+        first_body = client.calls[0]["json"]
+        assert all(call["json"] == first_body for call in client.calls)
+        assert len({call["body_id"] for call in client.calls}) == 1
+        assert all(
+            call["headers"] == {"Idempotency-Key": "ppe-event-123"}
+            for call in client.calls
+        )
+        assert encode_calls == 1
+
+    asyncio.run(scenario())
+
+
+def test_final_retryable_non_success_response_is_raised() -> None:
+    async def scenario() -> None:
+        client = FakeHttpClient([FakeResponse(503), FakeResponse(503)])
+        sink = await _setup_sink(
+            client,
+            max_attempts=2,
+            retry_initial_s=0,
+            retry_max_s=0,
+        )
+
+        with pytest.raises(FakeHttpStatusError, match="503"):
+            await sink.consume(_envelope(_alert()))
+
+        assert len(client.calls) == 2
+
+    asyncio.run(scenario())
+
+
+@pytest.mark.parametrize(
+    "outcome",
+    [FakeResponse(400), ValueError("invalid request body")],
+    ids=("non-retryable-status", "non-retryable-exception"),
+)
+def test_non_retryable_failure_is_raised_without_retry(
+    outcome: FakeResponse | BaseException,
+) -> None:
+    async def scenario() -> None:
+        client = FakeHttpClient([outcome, FakeResponse(200)])
+        sink = await _setup_sink(
+            client,
+            max_attempts=3,
+            retry_initial_s=0,
+            retry_max_s=0,
+        )
+
+        with pytest.raises((FakeHttpStatusError, ValueError)):
+            await sink.consume(_envelope(_alert()))
+
+        assert len(client.calls) == 1
+
+    asyncio.run(scenario())
+
+
+@pytest.mark.parametrize(
+    ("outcomes", "expected_attempts", "expected_status"),
+    [
+        ([OSError("offline"), TimeoutError("timed out")], 2, "none"),
+        ([FakeResponse(503), FakeResponse(503)], 2, "503"),
+        ([FakeResponse(400)], 1, "400"),
+    ],
+    ids=(
+        "network-errors",
+        "retryable-status",
+        "non-retryable-status",
+    ),
+)
+def test_log_and_drop_warns_without_failing_the_sink(
+    outcomes: list[FakeResponse | BaseException],
+    expected_attempts: int,
+    expected_status: str,
+    caplog: pytest.LogCaptureFixture,
+) -> None:
+    async def scenario() -> None:
+        client = FakeHttpClient(outcomes)
+        sink = await _setup_sink(
+            client,
+            failure_mode="log_and_drop",
+            max_attempts=2,
+            retry_initial_s=0,
+            retry_max_s=0,
+        )
+
+        await sink.consume(_envelope(_alert()), input_port="alerts")
+
+        assert len(client.calls) == expected_attempts
+
+    with caplog.at_level(logging.WARNING, logger=http_json.__name__):
+        asyncio.run(scenario())
+
+    dropped = [
+        record.getMessage()
+        for record in caplog.records
+        if "HTTP report dropped" in record.getMessage()
+    ]
+    assert len(dropped) == 1
+    assert "failure_mode=log_and_drop" in dropped[0]
+    assert "action=drop" in dropped[0]
+    assert f"attempts={expected_attempts}" in dropped[0]
+    assert f"status={expected_status}" in dropped[0]
+    assert "trace_id=trace-fallback-456" in dropped[0]
+
+
+def test_log_and_drop_never_swallows_cancellation() -> None:
+    async def scenario() -> None:
+        client = FakeHttpClient([asyncio.CancelledError()])
+        sink = await _setup_sink(
+            client,
+            failure_mode="log_and_drop",
+            max_attempts=1,
+        )
+
+        with pytest.raises(asyncio.CancelledError):
+            await sink.consume(_envelope(_alert()))
+
+    asyncio.run(scenario())
+
+
+def test_log_and_drop_continues_with_the_next_envelope() -> None:
+    async def scenario() -> None:
+        client = FakeHttpClient([OSError("offline"), FakeResponse(204)])
+        sink = await _setup_sink(
+            client,
+            failure_mode="log_and_drop",
+            max_attempts=1,
+        )
+
+        await sink.consume(_envelope(_alert("dropped-event")))
+        await sink.consume(_envelope(_alert("delivered-event")))
+
+        assert len(client.calls) == 2
+        assert client.calls[0]["headers"] == {
+            "Idempotency-Key": "dropped-event"
+        }
+        assert client.calls[1]["headers"] == {
+            "Idempotency-Key": "delivered-event"
+        }
+
+    asyncio.run(scenario())
+
+
+def test_log_and_drop_does_not_swallow_an_unknown_client_error() -> None:
+    async def scenario() -> None:
+        client = FakeHttpClient([ValueError("client programming error")])
+        sink = await _setup_sink(
+            client,
+            failure_mode="log_and_drop",
+            max_attempts=3,
+        )
+
+        with pytest.raises(ValueError, match="client programming error"):
+            await sink.consume(_envelope(_alert()))
+
+        assert len(client.calls) == 1
+
+    asyncio.run(scenario())
+
+
+def test_log_and_drop_success_does_not_emit_a_dropped_warning(
+    caplog: pytest.LogCaptureFixture,
+) -> None:
+    async def scenario() -> None:
+        client = FakeHttpClient([FakeResponse(204)])
+        sink = await _setup_sink(
+            client,
+            failure_mode="log_and_drop",
+            max_attempts=1,
+        )
+        await sink.consume(_envelope(_alert()))
+
+    with caplog.at_level(logging.WARNING, logger=http_json.__name__):
+        asyncio.run(scenario())
+
+    assert not any(
+        "HTTP report dropped" in record.getMessage() for record in caplog.records
+    )
+
+
+@pytest.mark.parametrize(
+    ("params", "message"),
+    [
+        ({"max_attempts": 0}, "max_attempts must be a positive integer"),
+        ({"max_attempts": True}, "max_attempts must be a positive integer"),
+        ({"retry_initial_s": -0.1}, "retry_initial_s must be a non-negative"),
+        ({"retry_max_s": False}, "retry_max_s must be a non-negative"),
+        (
+            {"retry_initial_s": 2.0, "retry_max_s": 1.0},
+            "retry_max_s must be >= retry_initial_s",
+        ),
+        ({"retry_statuses": "503"}, "retry_statuses must be a sequence"),
+        ({"retry_statuses": [99]}, "must be between 100 and 599"),
+        ({"retry_statuses": [600]}, "must be between 100 and 599"),
+        ({"retry_statuses": ["not-a-status"]}, "must be a sequence"),
+        ({"failure_mode": "warn"}, "must be 'raise' or 'log_and_drop'"),
+        ({"failure_mode": ""}, "must be 'raise' or 'log_and_drop'"),
+        ({"failure_mode": None}, "must be 'raise' or 'log_and_drop'"),
+        ({"failure_mode": True}, "must be 'raise' or 'log_and_drop'"),
+        ({"failure_mode": []}, "must be 'raise' or 'log_and_drop'"),
+    ],
+)
+def test_retry_configuration_is_validated(params: dict[str, Any], message: str) -> None:
+    with pytest.raises(ValueError, match=message):
+        PlatformHttpJsonSink("platform", {"endpoint": "platform", **params})
diff --git a/tests/unit/test_safety_gate.py b/tests/unit/test_safety_gate.py
new file mode 100644
index 0000000..64c21af
--- /dev/null
+++ b/tests/unit/test_safety_gate.py
@@ -0,0 +1,106 @@
+from __future__ import annotations
+
+import asyncio
+from collections.abc import Mapping
+from time import time_ns
+from typing import Any
+
+import pytest
+
+from cmvr_edge_ai.contracts import ApprovedRobotCommand, RobotCommand
+from cmvr_edge_ai.core import Envelope
+from cmvr_edge_ai.plugins.builtin import CommandSafetyGate
+
+
+def _envelope(
+    action: str,
+    *,
+    valid_until_ns: int,
+    sequence: int = 1,
+    arguments: Mapping[str, Any] | None = None,
+) -> Envelope[RobotCommand]:
+    return Envelope(
+        RobotCommand(
+            device_id="src1100",
+            action=action,
+            valid_until_ns=valid_until_ns,
+            sequence=sequence,
+            arguments={} if arguments is None else arguments,
+        ),
+        schema_name="RobotCommand",
+    )
+
+
+def test_command_safety_gate_is_fail_closed() -> None:
+    gate = CommandSafetyGate(
+        "gate",
+        {
+            "allowed_actions": ["emergency_stop"],
+            "allowed_devices": ["src1100"],
+        },
+    )
+    future = time_ns() + 5_000_000_000
+
+    command_envelope = _envelope("emergency_stop", valid_until_ns=future)
+    accepted = asyncio.run(gate.process(command_envelope))
+    expired = asyncio.run(
+        gate.process(_envelope("emergency_stop", valid_until_ns=time_ns() - 1))
+    )
+    unauthorized = asyncio.run(
+        gate.process(_envelope("set_velocity", valid_until_ns=future))
+    )
+
+    assert accepted is not None
+    assert accepted.port == "commands"
+    assert accepted.envelope.schema == "ApprovedRobotCommand/v1"
+    assert isinstance(accepted.envelope.payload, ApprovedRobotCommand)
+    assert accepted.envelope.payload.command is command_envelope.payload
+    assert accepted.envelope.payload.approved_by == "gate"
+    assert accepted.envelope.trace_id == command_envelope.trace_id
+    assert expired is None
+    assert unauthorized is None
+    assert asyncio.run(gate.health()).detail == "rejected_commands=2"
+
+
+def test_velocity_gate_requires_limits_and_rejects_replays() -> None:
+    with pytest.raises(ValueError, match="requires argument_limits"):
+        CommandSafetyGate("gate", {"allowed_actions": ["set_velocity"]})
+
+    gate = CommandSafetyGate(
+        "gate",
+        {
+            "allowed_actions": ["set_velocity"],
+            "allowed_devices": ["src1100"],
+            "argument_limits": {
+                "set_velocity": {
+                    "vx": {"min": -1.0, "max": 1.0},
+                    "vy": {"min": -1.0, "max": 1.0},
+                    "wz": {"min": -2.0, "max": 2.0},
+                }
+            },
+        },
+    )
+    future = time_ns() + 5_000_000_000
+    accepted = _envelope(
+        "set_velocity",
+        valid_until_ns=future,
+        sequence=10,
+        arguments={"vx": 0.5, "vy": 0.0, "wz": 0.25},
+    )
+
+    approved = asyncio.run(gate.process(accepted))
+    assert approved is not None
+    assert isinstance(approved.envelope.payload, ApprovedRobotCommand)
+    assert asyncio.run(gate.process(accepted)) is None
+    outside_limits = asyncio.run(
+        gate.process(
+            _envelope(
+                "set_velocity",
+                valid_until_ns=future,
+                sequence=11,
+                arguments={"vx": 1.5, "vy": 0.0, "wz": 0.0},
+            )
+        )
+    )
+    assert outside_limits is None
+    assert asyncio.run(gate.health()).detail == "rejected_commands=2"
diff --git a/tests/unit/test_video_decoder.py b/tests/unit/test_video_decoder.py
new file mode 100644
index 0000000..17b9416
--- /dev/null
+++ b/tests/unit/test_video_decoder.py
@@ -0,0 +1,445 @@
+from __future__ import annotations
+
+import asyncio
+import threading
+from concurrent.futures import ThreadPoolExecutor
+from dataclasses import dataclass, field
+from typing import Any
+
+import pytest
+
+import cmvr_edge_ai.detection.video as video_module
+from cmvr_edge_ai.contracts import CameraIntrinsics, ImageFrame
+from cmvr_edge_ai.core import ComponentContext, Emission, Envelope
+from cmvr_edge_ai.detection.video import (
+    DecodedVideoFrame,
+    VideoDecodeError,
+    VideoDecoderOperator,
+)
+
+
+@dataclass
+class _BackendLog:
+    created_codecs: list[str] = field(default_factory=list)
+    decoded_packets: list[bytes] = field(default_factory=list)
+    worker_threads: list[int] = field(default_factory=list)
+    close_count: int = 0
+
+
+class _FakeBackend:
+    def __init__(self, codec: str, log: _BackendLog) -> None:
+        self._log = log
+        self._closed = False
+        log.created_codecs.append(codec)
+        log.worker_threads.append(threading.get_ident())
+
+    def decode(self, data: bytes) -> tuple[DecodedVideoFrame, ...]:
+        if self._closed:
+            raise RuntimeError("fake decoder is closed")
+        self._log.decoded_packets.append(data)
+        self._log.worker_threads.append(threading.get_ident())
+        if data == b"decode-error":
+            raise VideoDecodeError("synthetic packet discontinuity")
+        if data == b"buffered":
+            return ()
+        if data == b"two-frames":
+            return (
+                DecodedVideoFrame(b"first", 2, 2),
+                DecodedVideoFrame(b"second", 3, 2),
+            )
+        return (DecodedVideoFrame(b"decoded:" + data, 2, 2),)
+
+    def close(self) -> None:
+        if not self._closed:
+            self._closed = True
+            self._log.close_count += 1
+            self._log.worker_threads.append(threading.get_ident())
+
+
+def _factory(log: _BackendLog):  # type: ignore[no-untyped-def]
+    return lambda codec: _FakeBackend(codec, log)
+
+
+def _image(
+    *,
+    codec: str = "H264",
+    key_frame: bool = False,
+    width: int = 640,
+    height: int = 480,
+    data: bytes = b"packet",
+    intrinsics: CameraIntrinsics | None = None,
+) -> ImageFrame:
+    return ImageFrame(
+        data=data,
+        width=width,
+        height=height,
+        pixel_format="encoded",
+        codec=codec,
+        is_key_frame=key_frame,
+        intrinsics=intrinsics,
+    )
+
+
+def _envelope(
+    image: Any,
+    *,
+    source_id: str = "camera-1",
+    session_id: str | None = "session-1",
+    sequence: int = 0,
+) -> Envelope[Any]:
+    return Envelope(
+        payload=image,
+        schema_name="ImageFrame",
+        schema_version=1,
+        source_id=source_id,
+        session_id=session_id,
+        sequence=sequence,
+        captured_at_ns=123,
+        received_at_ns=456,
+        deadline_ns=999,
+        trace_id="trace-1",
+        attributes={"transport": "test"},
+    )
+
+
+async def _setup(operator: VideoDecoderOperator, executor: Any = None) -> None:
+    metadata = {} if executor is None else {"thread_executor": executor}
+    await operator.setup(
+        ComponentContext(
+            pipeline_id="test-pipeline",
+            node_id="decoder",
+            shutdown_event=asyncio.Event(),
+            metadata=metadata,
+        )
+    )
+
+
+async def _keep_restricted_event_loop_responsive() -> None:
+    """Provide wakeups where sandboxed self-pipe notifications are unavailable."""
+
+    while True:
+        await asyncio.sleep(0.01)
+
+
+def _run_with_ticker(coroutine: Any) -> Any:
+    async def runner() -> Any:
+        loop = asyncio.get_running_loop()
+        host_executor = ThreadPoolExecutor(max_workers=2)
+        loop.set_default_executor(host_executor)
+        ticker = asyncio.create_task(_keep_restricted_event_loop_responsive())
+        try:
+            return await coroutine
+        finally:
+            ticker.cancel()
+            await asyncio.gather(ticker, return_exceptions=True)
+            host_executor.shutdown(wait=True, cancel_futures=True)
+            # Avoid a second shutdown by asyncio.run() after ownership above.
+            loop._default_executor = None  # type: ignore[attr-defined]
+
+    return asyncio.run(runner())
+
+
+def test_raw_frame_is_passed_through_without_loading_a_backend() -> None:
+    factory_calls: list[str] = []
+
+    def forbidden_factory(codec: str):  # type: ignore[no-untyped-def]
+        factory_calls.append(codec)
+        raise AssertionError("raw frames must not construct a decoder")
+
+    operator = VideoDecoderOperator("decoder", {}, backend_factory=forbidden_factory)
+    envelope = _envelope(
+        ImageFrame(
+            data=b"raw-bgr",
+            width=2,
+            height=2,
+            pixel_format="BGR8",
+            codec="none",
+        )
+    )
+
+    async def exercise() -> Emission:
+        await _setup(operator)
+        result = await operator.process(envelope)
+        await operator.stop()
+        assert isinstance(result, Emission)
+        return result
+
+    emission = _run_with_ticker(exercise())
+
+    assert emission.port == "frames"
+    assert emission.envelope is envelope
+    assert factory_calls == []
+
+
+def test_waits_for_keyframe_decodes_off_loop_and_preserves_envelope_metadata() -> None:
+    log = _BackendLog()
+    operator = VideoDecoderOperator("decoder", {}, backend_factory=_factory(log))
+    intrinsics = CameraIntrinsics(100.0, 101.0, 50.0, 51.0)
+    event_loop_thread = threading.get_ident()
+
+    async def exercise():  # type: ignore[no-untyped-def]
+        with ThreadPoolExecutor(max_workers=1) as executor:
+            await _setup(operator, executor)
+            dropped = await operator.process(
+                _envelope(_image(key_frame=False), sequence=10)
+            )
+            key_envelope = _envelope(
+                _image(
+                    codec=".H264",
+                    key_frame=True,
+                    data=b"key",
+                    intrinsics=intrinsics,
+                ),
+                sequence=11,
+            )
+            decoded = await operator.process(key_envelope)
+            health = await operator.health()
+            await operator.stop()
+        return dropped, key_envelope, decoded, health
+
+    dropped, original, result, health = _run_with_ticker(exercise())
+
+    assert dropped is None
+    assert isinstance(result, tuple) and len(result) == 1
+    emission = result[0]
+    assert emission.port == "frames"
+    assert isinstance(emission.envelope.payload, ImageFrame)
+    assert emission.envelope.payload == ImageFrame(
+        data=b"decoded:key",
+        width=2,
+        height=2,
+        pixel_format="BGR8",
+        codec="none",
+        is_key_frame=False,
+        intrinsics=intrinsics,
+    )
+    assert emission.envelope.source_id == original.source_id
+    assert emission.envelope.session_id == original.session_id
+    assert emission.envelope.sequence == original.sequence
+    assert emission.envelope.trace_id == original.trace_id
+    assert emission.envelope.captured_at_ns == original.captured_at_ns
+    assert emission.envelope.received_at_ns == original.received_at_ns
+    assert emission.envelope.attributes == original.attributes
+    assert log.created_codecs == ["h264"]
+    assert log.decoded_packets == [b"key"]
+    assert log.close_count == 1
+    assert log.worker_threads
+    assert all(thread_id != event_loop_thread for thread_id in log.worker_threads)
+    assert "decoded_frames=1" in health.detail
+    assert "dropped_until_keyframe=1" in health.detail
+
+
+@pytest.mark.parametrize(
+    ("change", "expected_codec"),
+    [
+        ({"source_id": "camera-2"}, "h264"),
+        ({"session_id": "session-2"}, "h264"),
+        ({"codec": "H265"}, "hevc"),
+        ({"width": 800}, "h264"),
+        ({"height": 600}, "h264"),
+        ({"sequence": 4}, "h264"),
+    ],
+)
+def test_stream_identity_change_or_sequence_gap_resets_and_waits_for_keyframe(
+    change: dict[str, Any],
+    expected_codec: str,
+) -> None:
+    log = _BackendLog()
+    operator = VideoDecoderOperator("decoder", {}, backend_factory=_factory(log))
+
+    async def exercise():  # type: ignore[no-untyped-def]
+        await _setup(operator)
+        first = await operator.process(
+            _envelope(_image(key_frame=True, data=b"initial"), sequence=1)
+        )
+
+        source_id = str(change.get("source_id", "camera-1"))
+        session_id = change.get("session_id", "session-1")
+        sequence = int(change.get("sequence", 2))
+        codec = str(change.get("codec", "H264"))
+        width = int(change.get("width", 640))
+        height = int(change.get("height", 480))
+        changed_image = _image(
+            codec=codec,
+            key_frame=False,
+            width=width,
+            height=height,
+            data=b"must-drop",
+        )
+        dropped = await operator.process(
+            _envelope(
+                changed_image,
+                source_id=source_id,
+                session_id=session_id,
+                sequence=sequence,
+            )
+        )
+        recovered = await operator.process(
+            _envelope(
+                _image(
+                    codec=codec,
+                    key_frame=True,
+                    width=width,
+                    height=height,
+                    data=b"recovered",
+                ),
+                source_id=source_id,
+                session_id=session_id,
+                sequence=sequence + 1,
+            )
+        )
+        await operator.stop()
+        return first, dropped, recovered
+
+    first, dropped, recovered = _run_with_ticker(exercise())
+
+    assert isinstance(first, tuple)
+    assert dropped is None
+    assert isinstance(recovered, tuple)
+    assert log.created_codecs == ["h264", expected_codec]
+    assert log.decoded_packets == [b"initial", b"recovered"]
+    assert log.close_count == 2
+
+
+def test_recoverable_decode_error_resets_and_suppresses_until_next_keyframe() -> None:
+    log = _BackendLog()
+    operator = VideoDecoderOperator("decoder", {}, backend_factory=_factory(log))
+
+    async def exercise():  # type: ignore[no-untyped-def]
+        await _setup(operator)
+        failed = await operator.process(
+            _envelope(
+                _image(key_frame=True, data=b"decode-error"),
+                sequence=1,
+            )
+        )
+        suppressed = await operator.process(
+            _envelope(_image(key_frame=False, data=b"p-frame"), sequence=2)
+        )
+        recovered = await operator.process(
+            _envelope(_image(key_frame=True, data=b"new-key"), sequence=3)
+        )
+        health = await operator.health()
+        await operator.stop()
+        await operator.stop()
+        return failed, suppressed, recovered, health
+
+    failed, suppressed, recovered, health = _run_with_ticker(exercise())
+
+    assert failed is None
+    assert suppressed is None
+    assert isinstance(recovered, tuple)
+    assert log.created_codecs == ["h264", "h264"]
+    assert log.decoded_packets == [b"decode-error", b"new-key"]
+    assert log.close_count == 2
+    assert "decode_errors=1" in health.detail
+    assert "resets=1" in health.detail
+
+
+def test_backend_can_emit_zero_or_multiple_decoded_frames() -> None:
+    log = _BackendLog()
+    operator = VideoDecoderOperator("decoder", {}, backend_factory=_factory(log))
+
+    async def exercise():  # type: ignore[no-untyped-def]
+        await _setup(operator)
+        buffered = await operator.process(
+            _envelope(_image(key_frame=True, data=b"buffered"), sequence=1)
+        )
+        multiple = await operator.process(
+            _envelope(_image(key_frame=False, data=b"two-frames"), sequence=2)
+        )
+        await operator.stop()
+        return buffered, multiple
+
+    buffered, multiple = _run_with_ticker(exercise())
+
+    assert buffered is None
+    assert isinstance(multiple, tuple) and len(multiple) == 2
+    assert [item.envelope.payload.data for item in multiple] == [b"first", b"second"]
+
+
+def test_raw_transition_closes_an_existing_encoded_decoder() -> None:
+    log = _BackendLog()
+    operator = VideoDecoderOperator("decoder", {}, backend_factory=_factory(log))
+    raw_envelope = _envelope(
+        ImageFrame(b"raw", 1, 1, "BGR8", codec="raw"),
+        sequence=2,
+    )
+
+    async def exercise():  # type: ignore[no-untyped-def]
+        await _setup(operator)
+        await operator.process(
+            _envelope(_image(key_frame=True, data=b"key"), sequence=1)
+        )
+        raw = await operator.process(raw_envelope)
+        await operator.stop()
+        return raw
+
+    result = _run_with_ticker(exercise())
+
+    assert isinstance(result, Emission)
+    assert result.envelope is raw_envelope
+    assert log.close_count == 1
+
+
+def test_rejects_wrong_payload_unsupported_codec_and_invalid_dimensions() -> None:
+    log = _BackendLog()
+    operator = VideoDecoderOperator("decoder", {}, backend_factory=_factory(log))
+
+    async def exercise() -> None:
+        with pytest.raises(TypeError, match="expected ImageFrame"):
+            await operator.process(_envelope("not-an-image"))
+        with pytest.raises(ValueError, match="unsupported encoded video codec"):
+            await operator.process(
+                _envelope(_image(codec="vp9", key_frame=True), sequence=1)
+            )
+        with pytest.raises(ValueError, match="dimensions must be positive"):
+            await operator.process(
+                _envelope(_image(width=0, key_frame=True), sequence=1)
+            )
+
+    _run_with_ticker(exercise())
+    assert log.created_codecs == []
+
+
+def test_default_backend_imports_pyav_only_for_an_encoded_keyframe(
+    monkeypatch: pytest.MonkeyPatch,
+) -> None:
+    imported: list[str] = []
+
+    def missing_import(name: str):  # type: ignore[no-untyped-def]
+        imported.append(name)
+        raise ImportError("synthetic missing dependency")
+
+    monkeypatch.setattr(video_module, "import_module", missing_import)
+    operator = VideoDecoderOperator("decoder", {})
+    raw = _envelope(ImageFrame(b"raw", 1, 1, "BGR8", codec="none"))
+
+    async def exercise() -> None:
+        assert isinstance(await operator.process(raw), Emission)
+        assert imported == []
+        assert (
+            await operator.process(_envelope(_image(key_frame=False), sequence=1))
+            is None
+        )
+        assert imported == []
+        with pytest.raises(RuntimeError, match="optional video dependencies"):
+            await operator.process(_envelope(_image(key_frame=True), sequence=2))
+
+    _run_with_ticker(exercise())
+    assert imported == ["av"]
+
+
+def test_setup_rejects_a_non_executor_thread_executor() -> None:
+    operator = VideoDecoderOperator("decoder", {})
+
+    async def exercise() -> None:
+        with pytest.raises(TypeError, match="must be an Executor"):
+            await _setup(operator, object())
+
+    _run_with_ticker(exercise())
+
+
+def test_constructor_rejects_unknown_parameters() -> None:
+    with pytest.raises(ValueError, match="does not support parameters: typo"):
+        VideoDecoderOperator("decoder", {"typo": True})
diff --git a/tests/unit/test_yolo_model.py b/tests/unit/test_yolo_model.py
new file mode 100644
index 0000000..7c77a68
--- /dev/null
+++ b/tests/unit/test_yolo_model.py
@@ -0,0 +1,378 @@
+from __future__ import annotations
+
+from pathlib import Path
+from types import SimpleNamespace
+from typing import Any
+
+import pytest
+
+from cmvr_edge_ai.contracts import BoundingBox, Detection, ImageFrame
+from cmvr_edge_ai.detection.models import (
+    PPE_6CLASS_LABELS,
+    register_builtin_detection_models,
+)
+from cmvr_edge_ai.detection.models import yolo as yolo_module
+from cmvr_edge_ai.detection.models.yolo import (
+    UltralyticsYoloModel,
+    YoloDependencyError,
+)
+from cmvr_edge_ai.detection.registry import DetectionModelRegistry
+
+
+class _FakeArray:
+    def __init__(self, data: bytes, *, channel_reversed: bool = False) -> None:
+        self.data = data
+        self.channel_reversed = channel_reversed
+        self.shape: tuple[int, ...] | None = None
+
+    def reshape(self, shape: tuple[int, ...]) -> _FakeArray:
+        self.shape = shape
+        return self
+
+    def __getitem__(self, key: object) -> _FakeArray:
+        assert key == (slice(None), slice(None), slice(None, None, -1))
+        reversed_array = _FakeArray(self.data, channel_reversed=True)
+        reversed_array.shape = self.shape
+        return reversed_array
+
+
+class _FakeNumpy:
+    uint8 = object()
+
+    def __init__(self) -> None:
+        self.frombuffer_calls: list[tuple[bytes, object]] = []
+
+    def frombuffer(self, data: bytes, *, dtype: object) -> _FakeArray:
+        self.frombuffer_calls.append((data, dtype))
+        return _FakeArray(data)
+
+
+class _FakeTensor:
+    """Exercise the detach/cpu/tolist path used by real torch tensors."""
+
+    def __init__(self, value: list[Any]) -> None:
+        self.value = value
+        self.detached = False
+        self.on_cpu = False
+
+    def detach(self) -> _FakeTensor:
+        self.detached = True
+        return self
+
+    def cpu(self) -> _FakeTensor:
+        self.on_cpu = True
+        return self
+
+    def tolist(self) -> list[Any]:
+        return self.value
+
+
+class _FakeBoxes:
+    def __init__(
+        self,
+        xyxy: list[list[float]],
+        confidence: list[float],
+        classes: list[float],
+    ) -> None:
+        self.xyxy = _FakeTensor(xyxy)
+        self.conf = _FakeTensor(confidence)
+        self.cls = _FakeTensor(classes)
+
+
+def _weights(tmp_path: Path) -> Path:
+    path = tmp_path / "best.pt"
+    path.write_bytes(b"test-only-placeholder")
+    return path
+
+
+def _install_fake_runtime(
+    monkeypatch: pytest.MonkeyPatch,
+    *,
+    names: object,
+    results: list[object] | None = None,
+) -> tuple[_FakeNumpy, list[Any]]:
+    numpy = _FakeNumpy()
+    created: list[Any] = []
+
+    class FakeYOLO:
+        def __init__(self, weights: str, *, task: str) -> None:
+            self.weights = weights
+            self.task = task
+            self.names = names
+            self.predict_calls: list[dict[str, Any]] = []
+            created.append(self)
+
+        def predict(self, **kwargs: Any) -> list[object]:
+            self.predict_calls.append(kwargs)
+            return [] if results is None else results
+
+    ultralytics = SimpleNamespace(YOLO=FakeYOLO)
+
+    def fake_import_module(name: str) -> object:
+        if name == "numpy":
+            return numpy
+        if name == "ultralytics":
+            return ultralytics
+        raise AssertionError(f"unexpected lazy import: {name}")
+
+    monkeypatch.setattr(yolo_module, "import_module", fake_import_module)
+    return numpy, created
+
+
+def _frame(
+    *,
+    pixel_format: str = "BGR8",
+    codec: str = "none",
+    data: bytes = bytes(range(12)),
+) -> ImageFrame:
+    return ImageFrame(
+        data=data,
+        width=2,
+        height=2,
+        pixel_format=pixel_format,
+        codec=codec,
+    )
+
+
+def test_yolo_dependency_is_loaded_lazily(
+    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
+) -> None:
+    calls: list[str] = []
+    fake_numpy = _FakeNumpy()
+
+    def missing_ultralytics(name: str) -> object:
+        calls.append(name)
+        if name == "numpy":
+            return fake_numpy
+        raise ImportError("ultralytics is intentionally unavailable")
+
+    monkeypatch.setattr(yolo_module, "import_module", missing_ultralytics)
+    model = UltralyticsYoloModel(
+        {"weights": str(_weights(tmp_path))},
+        expected_labels=("No-Helmet",),
+    )
+
+    assert calls == []
+    with pytest.raises(YoloDependencyError, match=r"cmvr-edge-ai\[yolo\]"):
+        model.load()
+    assert calls == ["numpy", "ultralytics"]
+
+
+def test_yolo_load_requires_checkpoint_labels_to_match_registration_exactly(
+    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
+) -> None:
+    weights = _weights(tmp_path)
+    _, created = _install_fake_runtime(
+        monkeypatch,
+        names={0: "Vest", 1: "No-Helmet"},
+    )
+    model = UltralyticsYoloModel(
+        {"weights": str(weights)},
+        expected_labels=("No-Helmet", "Vest"),
+    )
+
+    with pytest.raises(ValueError, match="checkpoint labels do not match"):
+        model.load()
+    assert len(created) == 1
+    assert created[0].weights == str(weights)
+    assert created[0].task == "detect"
+
+    # A complete, ordered mapping is accepted; comparison is not set-based.
+    _, accepted = _install_fake_runtime(
+        monkeypatch,
+        names={0: "No-Helmet", 1: "Vest"},
+    )
+    matching = UltralyticsYoloModel(
+        {"weights": str(weights)},
+        expected_labels=("No-Helmet", "Vest"),
+    )
+    matching.load()
+    assert len(accepted) == 1
+
+
+def test_ppe_6classes_builtin_registration_preserves_checkpoint_label_order() -> None:
+    registry = DetectionModelRegistry()
+    register_builtin_detection_models(registry)
+
+    spec = registry.resolve("ppe-6classes-yolov8n@1")
+
+    assert spec.name == "PPE Detection YOLOv8n (6 Classes)"
+    assert spec.backend == "ultralytics-yolo"
+    assert spec.supported_labels == (
+        "Gloves",
+        "Vest",
+        "goggles",
+        "helmet",
+        "mask",
+        "safety_shoe",
+    )
+    assert spec.supported_labels == PPE_6CLASS_LABELS
+
+
+def test_ppe_6classes_factory_enforces_checkpoint_label_order(
+    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
+) -> None:
+    registry = DetectionModelRegistry()
+    register_builtin_detection_models(registry)
+    spec = registry.resolve("ppe-6classes-yolov8n@1")
+    weights = _weights(tmp_path)
+    model = spec.factory({"weights": str(weights)})
+    _install_fake_runtime(
+        monkeypatch,
+        names={
+            0: "Vest",
+            1: "Gloves",
+            2: "goggles",
+            3: "helmet",
+            4: "mask",
+            5: "safety_shoe",
+        },
+    )
+
+    assert isinstance(model, UltralyticsYoloModel)
+    with pytest.raises(ValueError, match="checkpoint labels do not match"):
+        model.load()
+
+    _, created = _install_fake_runtime(
+        monkeypatch,
+        names=dict(enumerate(PPE_6CLASS_LABELS)),
+    )
+    matching = spec.factory({"weights": str(weights)})
+    matching.load()
+
+    assert isinstance(matching, UltralyticsYoloModel)
+    assert len(created) == 1
+    assert created[0].weights == str(weights)
+    assert created[0].task == "detect"
+
+
+@pytest.mark.parametrize(
+    ("frame", "message"),
+    [
+        (_frame(codec="h264"), "decoded ImageFrame"),
+        (_frame(pixel_format="GRAY8"), "supports BGR8 or RGB8"),
+        (_frame(data=b"too-short"), r"width\*height\*3"),
+    ],
+)
+def test_yolo_rejects_encoded_unsupported_or_malformed_buffers(
+    tmp_path: Path,
+    monkeypatch: pytest.MonkeyPatch,
+    frame: ImageFrame,
+    message: str,
+) -> None:
+    _install_fake_runtime(monkeypatch, names=("No-Helmet",))
+    model = UltralyticsYoloModel(
+        {"weights": str(_weights(tmp_path))},
+        expected_labels=("No-Helmet",),
+    )
+    model.load()
+
+    with pytest.raises(ValueError, match=message):
+        model.predict(frame, ("No-Helmet",), 0.5)
+
+
+def test_yolo_converts_rgb_to_bgr_but_keeps_bgr_buffer_order(
+    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
+) -> None:
+    numpy, created = _install_fake_runtime(monkeypatch, names=("No-Helmet",))
+    model = UltralyticsYoloModel(
+        {"weights": str(_weights(tmp_path))},
+        expected_labels=("No-Helmet",),
+    )
+    model.load()
+
+    model.predict(_frame(pixel_format=" BGR8 "), ("No-Helmet",), 0.5)
+    bgr_source = created[0].predict_calls[-1]["source"]
+    assert isinstance(bgr_source, _FakeArray)
+    assert bgr_source.shape == (2, 2, 3)
+    assert bgr_source.channel_reversed is False
+
+    model.predict(_frame(pixel_format="RGB8"), ("No-Helmet",), 0.5)
+    rgb_source = created[0].predict_calls[-1]["source"]
+    assert isinstance(rgb_source, _FakeArray)
+    assert rgb_source.shape == (2, 2, 3)
+    assert rgb_source.channel_reversed is True
+    assert numpy.frombuffer_calls == [
+        (bytes(range(12)), numpy.uint8),
+        (bytes(range(12)), numpy.uint8),
+    ]
+
+
+def test_yolo_predict_forwards_options_and_normalizes_boxes(
+    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
+) -> None:
+    boxes = _FakeBoxes(
+        xyxy=[
+            [1.0, 2.0, 30.0, 40.0],
+            [5.5, 6.5, 50.5, 60.5],
+            [0.0, 0.0, 1.0, 1.0],
+        ],
+        confidence=[0.91, 0.82, 0.99],
+        classes=[1.0, 2.0, 0.0],
+    )
+    _, created = _install_fake_runtime(
+        monkeypatch,
+        names={0: "Worker", 1: "No-Helmet", 2: "No-Vest"},
+        results=[SimpleNamespace(boxes=boxes)],
+    )
+    model = UltralyticsYoloModel(
+        {
+            "weights": str(_weights(tmp_path)),
+            "device": "cuda:0",
+            "imgsz": 320,
+            "iou": 0.45,
+            "half": True,
+            "max_det": 42,
+            "agnostic_nms": True,
+        },
+        expected_labels=("Worker", "No-Helmet", "No-Vest"),
+    )
+    model.load()
+
+    detections = model.predict(
+        _frame(),
+        ("No-Helmet", "No-Vest"),
+        0.73,
+    )
+
+    call = created[0].predict_calls[-1]
+    assert call["classes"] == [1, 2]
+    assert call["conf"] == pytest.approx(0.73)
+    assert call["iou"] == pytest.approx(0.45)
+    assert call["imgsz"] == 320
+    assert call["device"] == "cuda:0"
+    assert call["half"] is True
+    assert call["max_det"] == 42
+    assert call["agnostic_nms"] is True
+    assert call["verbose"] is False
+    assert detections == (
+        Detection(
+            label="No-Helmet",
+            confidence=0.91,
+            box=BoundingBox(1.0, 2.0, 30.0, 40.0),
+        ),
+        Detection(
+            label="No-Vest",
+            confidence=0.82,
+            box=BoundingBox(5.5, 6.5, 50.5, 60.5),
+        ),
+    )
+    assert boxes.xyxy.detached and boxes.xyxy.on_cpu
+    assert boxes.conf.detached and boxes.conf.on_cpu
+    assert boxes.cls.detached and boxes.cls.on_cpu
+
+
+def test_yolo_close_is_idempotent_and_requires_reload_before_predict(
+    tmp_path: Path, monkeypatch: pytest.MonkeyPatch
+) -> None:
+    _install_fake_runtime(monkeypatch, names=("No-Helmet",))
+    model = UltralyticsYoloModel(
+        {"weights": str(_weights(tmp_path))},
+        expected_labels=("No-Helmet",),
+    )
+    model.load()
+    model.close()
+    model.close()
+
+    with pytest.raises(RuntimeError, match="has not been loaded"):
+        model.predict(_frame(), ("No-Helmet",), 0.5)
diff --git a/uv.lock b/uv.lock
new file mode 100644
index 0000000..a554b26
--- /dev/null
+++ b/uv.lock
@@ -0,0 +1,1845 @@
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+    "python_full_version == '3.11.*' and platform_machine == 'x86_64' and sys_platform == 'linux' and extra != 'extra-12-cmvr-edge-ai-yolo' and extra == 'extra-12-cmvr-edge-ai-yolo-cpu'",
+    "python_full_version < '3.11' and platform_machine == 'x86_64' and sys_platform == 'linux' and extra != 'extra-12-cmvr-edge-ai-yolo' and extra == 'extra-12-cmvr-edge-ai-yolo-cpu'",
+    "python_full_version >= '3.12' and sys_platform == 'win32' and extra != 'extra-12-cmvr-edge-ai-yolo' and extra == 'extra-12-cmvr-edge-ai-yolo-cpu'",
+    "(python_full_version >= '3.12' and platform_machine != 'x86_64' and sys_platform == 'linux' and extra != 'extra-12-cmvr-edge-ai-yolo' and extra == 'extra-12-cmvr-edge-ai-yolo-cpu') or (python_full_version >= '3.12' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-12-cmvr-edge-ai-yolo' and extra == 'extra-12-cmvr-edge-ai-yolo-cpu')",
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+    "python_full_version < '3.11' and sys_platform == 'win32' and extra != 'extra-12-cmvr-edge-ai-yolo' and extra == 'extra-12-cmvr-edge-ai-yolo-cpu'",
+    "(python_full_version == '3.11.*' and platform_machine != 'x86_64' and sys_platform == 'linux' and extra != 'extra-12-cmvr-edge-ai-yolo' and extra == 'extra-12-cmvr-edge-ai-yolo-cpu') or (python_full_version == '3.11.*' and sys_platform != 'linux' and sys_platform != 'win32' and extra != 'extra-12-cmvr-edge-ai-yolo' and extra == 'extra-12-cmvr-edge-ai-yolo-cpu')",
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+    "python_full_version >= '3.12' and sys_platform == 'win32' and extra == 'extra-12-cmvr-edge-ai-yolo' and extra != 'extra-12-cmvr-edge-ai-yolo-cpu'",
+    "python_full_version == '3.11.*' and sys_platform == 'win32' and extra == 'extra-12-cmvr-edge-ai-yolo' and extra != 'extra-12-cmvr-edge-ai-yolo-cpu'",
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+    "extra != 'extra-12-cmvr-edge-ai-yolo' and extra != 'extra-12-cmvr-edge-ai-yolo-cpu'",
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