solve dependencies problem

2025-09-05 15:49:00 +08:00
parent 12a6b47969
commit 21fbd5a323
114 changed files with 11337 additions and 19 deletions
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_camera_service.proto
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_camera_service.proto
@@ -0,0 +1,25 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+message SemanticMask {
+    string name = 2;
+    bytes data = 3;
+}
+message SemanticLabel {
+    int32 label_id = 2;
+    string label_name = 3;
+}
+
+message GetSemanticRequest {
+    string serial_no = 1;
+}
+message GetSemanticResponse {
+    string serial_no = 1;
+    SemanticMask semantic_mask = 2;
+    repeated SemanticLabel label_dict = 3;
+}
+
+service SimCameraService {
+
+    rpc GetSemanticData(GetSemanticRequest) returns(GetSemanticResponse);
+}
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_camera_service_pb2.py
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_camera_service_pb2.py
@@ -0,0 +1,34 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: protocol/sim/sim_camera_service.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n%protocol/sim/sim_camera_service.proto\x12\x0e\x61imdk.protocol\"*\n\x0cSemanticMask\x12\x0c\n\x04name\x18\x02 \x01(\t\x12\x0c\n\x04\x64\x61ta\x18\x03 \x01(\x0c\"5\n\rSemanticLabel\x12\x10\n\x08label_id\x18\x02 \x01(\x05\x12\x12\n\nlabel_name\x18\x03 \x01(\t\"\'\n\x12GetSemanticRequest\x12\x11\n\tserial_no\x18\x01 \x01(\t\"\x90\x01\n\x13GetSemanticResponse\x12\x11\n\tserial_no\x18\x01 \x01(\t\x12\x33\n\rsemantic_mask\x18\x02 \x01(\x0b\x32\x1c.aimdk.protocol.SemanticMask\x12\x31\n\nlabel_dict\x18\x03 \x03(\x0b\x32\x1d.aimdk.protocol.SemanticLabel2n\n\x10SimCameraService\x12Z\n\x0fGetSemanticData\x12\".aimdk.protocol.GetSemanticRequest\x1a#.aimdk.protocol.GetSemanticResponseb\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'protocol.sim.sim_camera_service_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_SEMANTICMASK']._serialized_start=57
+  _globals['_SEMANTICMASK']._serialized_end=99
+  _globals['_SEMANTICLABEL']._serialized_start=101
+  _globals['_SEMANTICLABEL']._serialized_end=154
+  _globals['_GETSEMANTICREQUEST']._serialized_start=156
+  _globals['_GETSEMANTICREQUEST']._serialized_end=195
+  _globals['_GETSEMANTICRESPONSE']._serialized_start=198
+  _globals['_GETSEMANTICRESPONSE']._serialized_end=342
+  _globals['_SIMCAMERASERVICE']._serialized_start=344
+  _globals['_SIMCAMERASERVICE']._serialized_end=454
+# @@protoc_insertion_point(module_scope)
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_camera_service_pb2_grpc.py
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_camera_service_pb2_grpc.py
@@ -0,0 +1,66 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+
+from . import sim_camera_service_pb2 as protocol_dot_sim_dot_sim__camera__service__pb2
+
+
+class SimCameraServiceStub(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.GetSemanticData = channel.unary_unary(
+                '/aimdk.protocol.SimCameraService/GetSemanticData',
+                request_serializer=protocol_dot_sim_dot_sim__camera__service__pb2.GetSemanticRequest.SerializeToString,
+                response_deserializer=protocol_dot_sim_dot_sim__camera__service__pb2.GetSemanticResponse.FromString,
+                )
+
+
+class SimCameraServiceServicer(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def GetSemanticData(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_SimCameraServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'GetSemanticData': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetSemanticData,
+                    request_deserializer=protocol_dot_sim_dot_sim__camera__service__pb2.GetSemanticRequest.FromString,
+                    response_serializer=protocol_dot_sim_dot_sim__camera__service__pb2.GetSemanticResponse.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'aimdk.protocol.SimCameraService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+
+
+ # This class is part of an EXPERIMENTAL API.
+class SimCameraService(object):
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def GetSemanticData(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, '/aimdk.protocol.SimCameraService/GetSemanticData',
+            protocol_dot_sim_dot_sim__camera__service__pb2.GetSemanticRequest.SerializeToString,
+            protocol_dot_sim_dot_sim__camera__service__pb2.GetSemanticResponse.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_gripper_service.proto
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_gripper_service.proto
@@ -0,0 +1,24 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+import public "aimdk/protocol/common/se3_pose.proto";
+
+message SetGripperStateReq {
+    string gripper_command = 1;
+    bool is_right = 2;
+    double opened_width = 3;
+}
+message SetGripperStateRsp {
+    string msg = 1;
+}
+message GetGripperStateReq {
+    bool is_right = 1;
+}
+message GetGripperStateRsp {
+    string gripper_name = 1
+    SE3RpyPose gripper_pose = 2;
+}
+service SimGripperService {
+    rpc SetGripperState(SetGripperStateReq) returns(SetGripperStateRsp);
+    rpc GetGripperState(GetGripperStateReq) returns(GetGripperStateRsp);
+}
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_gripper_service_pb2.py
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_gripper_service_pb2.py
@@ -0,0 +1,48 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: aimdk/protocol/sim/sim_gripper_service.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from aimdk.protocol.common import se3_pose_pb2 as aimdk_dot_protocol_dot_common_dot_se3__pose__pb2
+try:
+  aimdk_dot_protocol_dot_common_dot_vec3__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk_dot_protocol_dot_common_dot_vec3__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_common_dot_vec3__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk.protocol.common.vec3_pb2
+try:
+  aimdk_dot_protocol_dot_common_dot_quaternion__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk_dot_protocol_dot_common_dot_quaternion__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_common_dot_quaternion__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk.protocol.common.quaternion_pb2
+try:
+  aimdk_dot_protocol_dot_common_dot_rpy__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk_dot_protocol_dot_common_dot_rpy__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_common_dot_rpy__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk.protocol.common.rpy_pb2
+
+from aimdk.protocol.common.se3_pose_pb2 import *
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n,aimdk/protocol/sim/sim_gripper_service.proto\x12\x0e\x61imdk.protocol\x1a$aimdk/protocol/common/se3_pose.proto\"U\n\x12SetGripperStateReq\x12\x17\n\x0fgripper_command\x18\x01 \x01(\t\x12\x10\n\x08is_right\x18\x02 \x01(\x08\x12\x14\n\x0copened_width\x18\x03 \x01(\x01\"!\n\x12SetGripperStateRsp\x12\x0b\n\x03msg\x18\x01 \x01(\t\"&\n\x12GetGripperStateReq\x12\x10\n\x08is_right\x18\x01 \x01(\x08\"F\n\x12GetGripperStateRsp\x12\x30\n\x0cgripper_pose\x18\x01 \x01(\x0b\x32\x1a.aimdk.protocol.SE3RpyPose2\xc9\x01\n\x11SimGripperService\x12Y\n\x0fSetGripperState\x12\".aimdk.protocol.SetGripperStateReq\x1a\".aimdk.protocol.SetGripperStateRsp\x12Y\n\x0fGetGripperState\x12\".aimdk.protocol.GetGripperStateReq\x1a\".aimdk.protocol.GetGripperStateRspP\x00\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'aimdk.protocol.sim.sim_gripper_service_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_SETGRIPPERSTATEREQ']._serialized_start=102
+  _globals['_SETGRIPPERSTATEREQ']._serialized_end=187
+  _globals['_SETGRIPPERSTATERSP']._serialized_start=189
+  _globals['_SETGRIPPERSTATERSP']._serialized_end=222
+  _globals['_GETGRIPPERSTATEREQ']._serialized_start=224
+  _globals['_GETGRIPPERSTATEREQ']._serialized_end=262
+  _globals['_GETGRIPPERSTATERSP']._serialized_start=264
+  _globals['_GETGRIPPERSTATERSP']._serialized_end=334
+  _globals['_SIMGRIPPERSERVICE']._serialized_start=337
+  _globals['_SIMGRIPPERSERVICE']._serialized_end=538
+# @@protoc_insertion_point(module_scope)
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_gripper_service_pb2_grpc.py
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_gripper_service_pb2_grpc.py
@@ -0,0 +1,99 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+
+from aimdk.protocol.sim import sim_gripper_service_pb2 as aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2
+
+
+class SimGripperServiceStub(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.SetGripperState = channel.unary_unary(
+                '/aimdk.protocol.SimGripperService/SetGripperState',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2.SetGripperStateReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2.SetGripperStateRsp.FromString,
+                )
+        self.GetGripperState = channel.unary_unary(
+                '/aimdk.protocol.SimGripperService/GetGripperState',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2.GetGripperStateReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2.GetGripperStateRsp.FromString,
+                )
+
+
+class SimGripperServiceServicer(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def SetGripperState(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 GetGripperState(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_SimGripperServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'SetGripperState': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetGripperState,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2.SetGripperStateReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2.SetGripperStateRsp.SerializeToString,
+            ),
+            'GetGripperState': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetGripperState,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2.GetGripperStateReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2.GetGripperStateRsp.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'aimdk.protocol.SimGripperService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+
+
+ # This class is part of an EXPERIMENTAL API.
+class SimGripperService(object):
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def SetGripperState(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, '/aimdk.protocol.SimGripperService/SetGripperState',
+            aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2.SetGripperStateReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2.SetGripperStateRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def GetGripperState(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, '/aimdk.protocol.SimGripperService/GetGripperState',
+            aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2.GetGripperStateReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__gripper__service__pb2.GetGripperStateRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_joint_service.proto
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_joint_service.proto
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_object_service.proto
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_object_service.proto
@@ -0,0 +1,57 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+import public "aimdk/protocol/common/se3_pose.proto";
+import public "aimdk/protocol/common/vec3.proto";
+
+message AddObjectReq {
+    string usd_path = 1;        //物体usd资源位置
+    string prim_path = 2;       //物体摆放在场景中的primpath
+    string label_name = 3;      //物体标签名称
+    SE3RpyPose object_pose = 4; //物体放置的位姿
+    Vec3 object_scale = 5;      //物体缩放比例
+    Color object_color = 6;
+    string object_material = 7;
+    double object_mass = 8;
+    bool add_particle = 9;
+    Vec3 particle_position = 10;
+    Vec3 particle_scale = 11;
+    Color particle_color = 12;
+}
+message Color {
+    float r = 1;
+    float g = 2;
+    float b = 3;
+}
+message AddObjectRsp {
+    string prim_path = 1;
+    string label_name = 2;
+}
+message GetObjectPoseReq {
+    string prim_path = 1;
+}
+message GetObjectPoseRsp {
+    string prim_path = 1;
+    SE3RpyPose object_pose = 2;
+}
+message GetObjectJointReq {
+    string prim_path = 1;
+}
+message GetObjectJointRsp {
+    repeated string joint_names = 1;
+    repeated double joint_positions = 2;
+    repeated double joint_velocities = 3;
+}
+message SetTargetPointReq {
+    Vec3 point_position = 1;
+}
+message SetTargetPointRsp {
+    string msg = 1;
+}
+
+service SimObjectService {
+    rpc AddObject(AddObjectReq) returns(AddObjectRsp);
+    rpc GetObjectPose(GetObjectPoseReq) returns(GetObjectPoseRsp);
+    rpc GetObjectJoint(GetObjectJointReq) returns(GetObjectJointRsp);
+    rpc SetTargetPoint(SetTargetPointReq) returns(SetTargetPointRsp);
+}
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_object_service_pb2.py
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_object_service_pb2.py
@@ -0,0 +1,60 @@
+# -*- coding: utf-8 -*-
+# Generated by the protocol buffer compiler.  DO NOT EDIT!
+# source: aimdk/protocol/sim/sim_object_service.proto
+# Protobuf Python Version: 4.25.1
+"""Generated protocol buffer code."""
+from google.protobuf import descriptor as _descriptor
+from google.protobuf import descriptor_pool as _descriptor_pool
+from google.protobuf import symbol_database as _symbol_database
+from google.protobuf.internal import builder as _builder
+# @@protoc_insertion_point(imports)
+
+_sym_db = _symbol_database.Default()
+
+
+from aimdk.protocol.common import se3_pose_pb2 as aimdk_dot_protocol_dot_common_dot_se3__pose__pb2
+try:
+  aimdk_dot_protocol_dot_common_dot_vec3__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk_dot_protocol_dot_common_dot_vec3__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_common_dot_vec3__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk.protocol.common.vec3_pb2
+try:
+  aimdk_dot_protocol_dot_common_dot_quaternion__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk_dot_protocol_dot_common_dot_quaternion__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_common_dot_quaternion__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk.protocol.common.quaternion_pb2
+try:
+  aimdk_dot_protocol_dot_common_dot_rpy__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk_dot_protocol_dot_common_dot_rpy__pb2
+except AttributeError:
+  aimdk_dot_protocol_dot_common_dot_rpy__pb2 = aimdk_dot_protocol_dot_common_dot_se3__pose__pb2.aimdk.protocol.common.rpy_pb2
+from aimdk.protocol.common import vec3_pb2 as aimdk_dot_protocol_dot_common_dot_vec3__pb2
+
+from aimdk.protocol.common.se3_pose_pb2 import *
+from aimdk.protocol.common.vec3_pb2 import *
+
+DESCRIPTOR = _descriptor_pool.Default().AddSerializedFile(b'\n+aimdk/protocol/sim/sim_object_service.proto\x12\x0e\x61imdk.protocol\x1a$aimdk/protocol/common/se3_pose.proto\x1a aimdk/protocol/common/vec3.proto\"\xa3\x03\n\x0c\x41\x64\x64ObjectReq\x12\x10\n\x08usd_path\x18\x01 \x01(\t\x12\x11\n\tprim_path\x18\x02 \x01(\t\x12\x12\n\nlabel_name\x18\x03 \x01(\t\x12/\n\x0bobject_pose\x18\x04 \x01(\x0b\x32\x1a.aimdk.protocol.SE3RpyPose\x12*\n\x0cobject_scale\x18\x05 \x01(\x0b\x32\x14.aimdk.protocol.Vec3\x12+\n\x0cobject_color\x18\x06 \x01(\x0b\x32\x15.aimdk.protocol.Color\x12\x17\n\x0fobject_material\x18\x07 \x01(\t\x12\x13\n\x0bobject_mass\x18\x08 \x01(\x01\x12\x14\n\x0c\x61\x64\x64_particle\x18\t \x01(\x08\x12/\n\x11particle_position\x18\n \x01(\x0b\x32\x14.aimdk.protocol.Vec3\x12,\n\x0eparticle_scale\x18\x0b \x01(\x0b\x32\x14.aimdk.protocol.Vec3\x12-\n\x0eparticle_color\x18\x0c \x01(\x0b\x32\x15.aimdk.protocol.Color\"(\n\x05\x43olor\x12\t\n\x01r\x18\x01 \x01(\x02\x12\t\n\x01g\x18\x02 \x01(\x02\x12\t\n\x01\x62\x18\x03 \x01(\x02\"5\n\x0c\x41\x64\x64ObjectRsp\x12\x11\n\tprim_path\x18\x01 \x01(\t\x12\x12\n\nlabel_name\x18\x02 \x01(\t\"%\n\x10GetObjectPoseReq\x12\x11\n\tprim_path\x18\x01 \x01(\t\"V\n\x10GetObjectPoseRsp\x12\x11\n\tprim_path\x18\x01 \x01(\t\x12/\n\x0bobject_pose\x18\x02 \x01(\x0b\x32\x1a.aimdk.protocol.SE3RpyPose\"&\n\x11GetObjectJointReq\x12\x11\n\tprim_path\x18\x01 \x01(\t\"[\n\x11GetObjectJointRsp\x12\x13\n\x0bjoint_names\x18\x01 \x03(\t\x12\x17\n\x0fjoint_positions\x18\x02 \x03(\x01\x12\x18\n\x10joint_velocities\x18\x03 \x03(\x01\"A\n\x11SetTargetPointReq\x12,\n\x0epoint_position\x18\x01 \x01(\x0b\x32\x14.aimdk.protocol.Vec3\" \n\x11SetTargetPointRsp\x12\x0b\n\x03msg\x18\x01 \x01(\t2\xe0\x02\n\x10SimObjectService\x12G\n\tAddObject\x12\x1c.aimdk.protocol.AddObjectReq\x1a\x1c.aimdk.protocol.AddObjectRsp\x12S\n\rGetObjectPose\x12 .aimdk.protocol.GetObjectPoseReq\x1a .aimdk.protocol.GetObjectPoseRsp\x12V\n\x0eGetObjectJoint\x12!.aimdk.protocol.GetObjectJointReq\x1a!.aimdk.protocol.GetObjectJointRsp\x12V\n\x0eSetTargetPoint\x12!.aimdk.protocol.SetTargetPointReq\x1a!.aimdk.protocol.SetTargetPointRspP\x00P\x01\x62\x06proto3')
+
+_globals = globals()
+_builder.BuildMessageAndEnumDescriptors(DESCRIPTOR, _globals)
+_builder.BuildTopDescriptorsAndMessages(DESCRIPTOR, 'aimdk.protocol.sim.sim_object_service_pb2', _globals)
+if _descriptor._USE_C_DESCRIPTORS == False:
+  DESCRIPTOR._options = None
+  _globals['_ADDOBJECTREQ']._serialized_start=136
+  _globals['_ADDOBJECTREQ']._serialized_end=555
+  _globals['_COLOR']._serialized_start=557
+  _globals['_COLOR']._serialized_end=597
+  _globals['_ADDOBJECTRSP']._serialized_start=599
+  _globals['_ADDOBJECTRSP']._serialized_end=652
+  _globals['_GETOBJECTPOSEREQ']._serialized_start=654
+  _globals['_GETOBJECTPOSEREQ']._serialized_end=691
+  _globals['_GETOBJECTPOSERSP']._serialized_start=693
+  _globals['_GETOBJECTPOSERSP']._serialized_end=779
+  _globals['_GETOBJECTJOINTREQ']._serialized_start=781
+  _globals['_GETOBJECTJOINTREQ']._serialized_end=819
+  _globals['_GETOBJECTJOINTRSP']._serialized_start=821
+  _globals['_GETOBJECTJOINTRSP']._serialized_end=912
+  _globals['_SETTARGETPOINTREQ']._serialized_start=914
+  _globals['_SETTARGETPOINTREQ']._serialized_end=979
+  _globals['_SETTARGETPOINTRSP']._serialized_start=981
+  _globals['_SETTARGETPOINTRSP']._serialized_end=1013
+  _globals['_SIMOBJECTSERVICE']._serialized_start=1016
+  _globals['_SIMOBJECTSERVICE']._serialized_end=1368
+# @@protoc_insertion_point(module_scope)
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_object_service_pb2_grpc.py
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_object_service_pb2_grpc.py
@@ -0,0 +1,165 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+
+from aimdk.protocol.sim import sim_object_service_pb2 as aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2
+
+
+class SimObjectServiceStub(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.AddObject = channel.unary_unary(
+                '/aimdk.protocol.SimObjectService/AddObject',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.AddObjectReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.AddObjectRsp.FromString,
+                )
+        self.GetObjectPose = channel.unary_unary(
+                '/aimdk.protocol.SimObjectService/GetObjectPose',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.GetObjectPoseReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.GetObjectPoseRsp.FromString,
+                )
+        self.GetObjectJoint = channel.unary_unary(
+                '/aimdk.protocol.SimObjectService/GetObjectJoint',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.GetObjectJointReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.GetObjectJointRsp.FromString,
+                )
+        self.SetTargetPoint = channel.unary_unary(
+                '/aimdk.protocol.SimObjectService/SetTargetPoint',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.SetTargetPointReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.SetTargetPointRsp.FromString,
+                )
+
+
+class SimObjectServiceServicer(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def AddObject(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 GetObjectPose(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 GetObjectJoint(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 SetTargetPoint(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_SimObjectServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'AddObject': grpc.unary_unary_rpc_method_handler(
+                    servicer.AddObject,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.AddObjectReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.AddObjectRsp.SerializeToString,
+            ),
+            'GetObjectPose': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetObjectPose,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.GetObjectPoseReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.GetObjectPoseRsp.SerializeToString,
+            ),
+            'GetObjectJoint': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetObjectJoint,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.GetObjectJointReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.GetObjectJointRsp.SerializeToString,
+            ),
+            'SetTargetPoint': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetTargetPoint,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.SetTargetPointReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.SetTargetPointRsp.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'aimdk.protocol.SimObjectService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+
+
+ # This class is part of an EXPERIMENTAL API.
+class SimObjectService(object):
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def AddObject(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, '/aimdk.protocol.SimObjectService/AddObject',
+            aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.AddObjectReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.AddObjectRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def GetObjectPose(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, '/aimdk.protocol.SimObjectService/GetObjectPose',
+            aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.GetObjectPoseReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.GetObjectPoseRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def GetObjectJoint(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, '/aimdk.protocol.SimObjectService/GetObjectJoint',
+            aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.GetObjectJointReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.GetObjectJointRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def SetTargetPoint(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, '/aimdk.protocol.SimObjectService/SetTargetPoint',
+            aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.SetTargetPointReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__object__service__pb2.SetTargetPointRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_observation_service.proto
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_observation_service.proto
@@ -0,0 +1,287 @@
+syntax = "proto3";
+package aimdk.protocol;
+
+import public "aimdk/protocol/common/se3_pose.proto";
+import public "aimdk/protocol/common/joint.proto";
+
+/**
+ * @brief 标签信息
+ */
+message SemanticData {
+    string name = 2;
+    bytes data = 3;
+}
+message SemanticDict {
+    int32 label_id = 2;
+    string label_name = 3;
+}
+/**
+ * @brief 压缩图像数据
+ */
+message CamImage {
+  string format = 2;
+  bytes data = 3;
+}
+
+/**
+ * @brief 相机内参
+ */
+message CamInfo {
+  int32 width = 1;
+  int32 height = 2;
+  float ppx = 3;
+  float ppy = 4;
+  float fx = 5;
+  float fy = 6;
+}
+
+message CameraRsp {
+    CamInfo camera_info = 1;
+    CamImage rgb_camera = 2;
+    CamImage depth_camera = 3;
+    SemanticData semantic_mask = 4;
+    repeated SemanticDict label_dict = 5;
+}
+
+message JointRsp {
+    repeated JointState left_arm = 1;
+    repeated JointState right_arm = 2;
+    repeated JointState body_arm = 3;
+
+}
+
+message ObjectRsp {
+    SE3RpyPose object_pose = 7;
+}
+message GripperRsp {
+    SE3RpyPose left_gripper = 1;
+    SE3RpyPose right_gripper = 2;
+
+}
+
+message CameraRequest{
+    bool render_depth = 1;
+    bool render_semantic = 2;
+    repeated string camera_prim_list = 3;
+}
+
+
+message GripperRequest{
+    bool left = 1;
+    bool right = 2;
+}
+
+
+/**
+ * @brief request
+ */
+message GetObservationReq {
+    bool isCam = 1;
+    CameraRequest CameraReq = 2;
+    bool isJoint = 3;
+    bool isPose = 4;
+    repeated string objectPrims = 5;
+    bool isGripper = 6;
+    GripperRequest gripperReq = 7;
+    bool startRecording = 8;
+    bool stopRecording = 9;
+    int32 fps = 10;
+    string task_name = 11;
+}
+/**
+ * @brief response
+ */
+message GetObservationRsp {
+    repeated CameraRsp camera = 1;
+    repeated ObjectRsp pose = 2;
+    JointRsp joint = 3;
+    GripperRsp gripper = 4;
+    string recordingState = 5;
+}
+
+
+message ResetReq{
+    bool reset = 1;
+}
+message ResetRsp{
+    string msg = 1;
+}
+message AttachReq{
+    repeated string obj_prims = 1;
+    bool is_right = 2; 
+}
+message AttachRsp{
+    string msg = 1;
+}
+message DetachReq{
+    bool detach = 1;
+}
+message DetachRsp{
+    string msg = 1;
+}
+message MultiMoveReq{
+    string robot_name = 1;
+    bool plan = 2;
+    repeated SE3RpyPose poses = 3;
+    CmdPlan cmd_plan = 4;
+}
+message MultiMoveRsp{
+    repeated CmdPlan cmd_plans = 1;
+    string msg = 2;
+}
+message CmdPlan{
+    repeated string joint_names = 1;
+    repeated SinglePlan joint_plans = 2;
+}
+message SinglePlan{
+    repeated float joint_pos = 1;
+}
+message TaskStatusReq{
+    bool isSuccess = 1;
+    repeated int32 failStep =2;
+
+}
+message TaskStatusRsp{
+    string msg = 1;
+}
+
+message ExitReq{
+    bool exit = 1;
+}
+message ExitRsp{
+    string msg = 2;
+}
+
+message GetObjectsOfTypeReq{
+    string obj_type = 1;
+}
+message GetObjectsOfTypeRsp{
+    repeated string prim_paths = 1;
+}
+
+message InitRobotReq{
+    string robot_cfg_file = 1;
+    string robot_usd_path = 2;
+    string scene_usd_path = 3;
+    SE3RpyPose robot_pose = 4;
+    string stand_type = 5;
+    float stand_size_x = 6;
+    float stand_size_y = 7;
+}
+message InitRobotRsp{
+    string msg = 1;
+}
+message AddCameraReq{
+    string camera_prim = 1;
+    SE3RpyPose camera_pose = 2;
+    float focus_length = 3;
+    float horizontal_aperture = 4;
+    float vertical_aperture = 5;
+    int32 width = 6;
+    int32 height = 7;
+    bool is_local = 8;
+}
+message AddCameraRsp{
+    string msg = 1;
+}
+message DrawLineReq{
+    repeated Vec3 point_list_1 = 1;
+    repeated Vec3 point_list_2 = 2;
+    repeated Vec3 colors = 3;
+    repeated float sizes = 4;
+    string name = 5;
+}
+message DrawLineRsp{
+    string msg = 1;
+}
+message ClearLineReq{
+    string name = 1;
+}
+message ClearLineRsp{
+    string msg = 1;
+}
+message ObjectPose {
+    string prim_path = 1;
+    SE3RpyPose pose = 2;
+}
+message ObjectJoint {
+    string prim_path = 1;
+    repeated JointCommand joint_cmd = 2;
+}
+message SetObjectPoseReq {
+    repeated ObjectPose object_pose = 1;
+    repeated JointCommand joint_cmd = 2;
+    repeated ObjectJoint object_joint = 3;
+    
+}
+message SetObjectPoseRsp{
+    string msg = 1;
+}
+
+message SetCameraPoseReq{
+    repeated ObjectPose camera_pose = 1;
+}
+
+message SetCameraPoseRsp{
+    string msg = 1;
+}
+
+message SetTrajectoryListReq {
+  repeated SE3RpyPose trajectory_point = 1;
+  bool is_block = 2;
+}
+message SetTrajectoryListRsp {
+  string msg = 1;
+}
+message SetFrameStateReq {
+    string frame_state = 1;
+}
+message SetFrameStateRsp{
+    string msg = 1;
+}
+message MaterialInfo {
+    string object_prim = 1;
+    string material_name = 2;
+    string material_path = 3;
+    string label_name = 4;
+}
+message SetMaterailReq {
+    repeated MaterialInfo materials = 1;
+} 
+message SetMaterialRsp {
+    string msg = 1;
+}
+message LightCfg {
+    string light_type = 1;
+    string light_prim = 2;
+    float light_temperature = 3;
+    float light_intensity = 4;
+    Rpy light_rotation = 5;
+    string light_texture = 6;
+}
+message SetLightReq {
+    repeated LightCfg lights = 1;
+}
+message SetLightRsp {
+    string msg = 1;
+}
+
+service SimObservationService {
+    rpc GetObservation(GetObservationReq) returns(GetObservationRsp);
+    rpc Reset(ResetReq) returns(ResetRsp);
+    rpc AttachObj(AttachReq) returns(AttachRsp);
+    rpc DetachObj(DetachReq) returns(DetachRsp);
+    rpc MultiMove(MultiMoveReq) returns(MultiMoveRsp);
+    rpc GetObjectsOfType(GetObjectsOfTypeReq) returns(GetObjectsOfTypeRsp);
+    rpc TaskStatus(TaskStatusReq) returns(TaskStatusRsp);
+    rpc Exit(ExitReq) returns(ExitRsp);
+    rpc InitRobot(InitRobotReq) returns(InitRobotRsp);
+    rpc AddCamera(AddCameraReq) returns(AddCameraRsp);
+    rpc DrawLine(DrawLineReq) returns(DrawLineRsp);
+    rpc ClearLine(ClearLineReq) returns(ClearLineRsp);
+    rpc SetObjectPose(SetObjectPoseReq) returns(SetObjectPoseRsp);
+    rpc SetTrajectoryList(SetTrajectoryListReq) returns(SetTrajectoryListRsp);
+    rpc SetFrameState(SetFrameStateReq) returns(SetFrameStateRsp);
+    rpc SetMaterial(SetMaterailReq) returns(SetMaterialRsp);
+    rpc SetLight (SetLightReq) returns (SetLightRsp);
+}
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_observation_service_pb2.py
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_observation_service_pb2.py
--- a/data_gen_dependencies/aimdk/protocol/sim/sim_observation_service_pb2_grpc.py
+++ b/data_gen_dependencies/aimdk/protocol/sim/sim_observation_service_pb2_grpc.py
@@ -0,0 +1,594 @@
+# Generated by the gRPC Python protocol compiler plugin. DO NOT EDIT!
+"""Client and server classes corresponding to protobuf-defined services."""
+import grpc
+
+from aimdk.protocol.sim import sim_observation_service_pb2 as aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2
+
+
+class SimObservationServiceStub(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def __init__(self, channel):
+        """Constructor.
+
+        Args:
+            channel: A grpc.Channel.
+        """
+        self.GetObservation = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/GetObservation',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.GetObservationReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.GetObservationRsp.FromString,
+                )
+        self.Reset = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/Reset',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ResetReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ResetRsp.FromString,
+                )
+        self.AttachObj = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/AttachObj',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.AttachReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.AttachRsp.FromString,
+                )
+        self.DetachObj = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/DetachObj',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.DetachReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.DetachRsp.FromString,
+                )
+        self.MultiMove = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/MultiMove',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.MultiMoveReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.MultiMoveRsp.FromString,
+                )
+        self.GetObjectsOfType = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/GetObjectsOfType',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.GetObjectsOfTypeReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.GetObjectsOfTypeRsp.FromString,
+                )
+        self.TaskStatus = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/TaskStatus',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.TaskStatusReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.TaskStatusRsp.FromString,
+                )
+        self.Exit = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/Exit',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ExitReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ExitRsp.FromString,
+                )
+        self.InitRobot = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/InitRobot',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.InitRobotReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.InitRobotRsp.FromString,
+                )
+        self.AddCamera = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/AddCamera',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.AddCameraReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.AddCameraRsp.FromString,
+                )
+        self.DrawLine = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/DrawLine',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.DrawLineReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.DrawLineRsp.FromString,
+                )
+        self.ClearLine = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/ClearLine',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ClearLineReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ClearLineRsp.FromString,
+                )
+        self.SetObjectPose = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/SetObjectPose',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetObjectPoseReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetObjectPoseRsp.FromString,
+                )
+        self.SetTrajectoryList = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/SetTrajectoryList',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetTrajectoryListReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetTrajectoryListRsp.FromString,
+                )
+        self.SetFrameState = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/SetFrameState',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetFrameStateReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetFrameStateRsp.FromString,
+                )
+        self.SetMaterial = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/SetMaterial',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetMaterailReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetMaterialRsp.FromString,
+                )
+        self.SetLight = channel.unary_unary(
+                '/aimdk.protocol.SimObservationService/SetLight',
+                request_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetLightReq.SerializeToString,
+                response_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetLightRsp.FromString,
+                )
+
+
+class SimObservationServiceServicer(object):
+    """Missing associated documentation comment in .proto file."""
+
+    def GetObservation(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 Reset(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 AttachObj(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 DetachObj(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 MultiMove(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 GetObjectsOfType(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 TaskStatus(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 Exit(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 InitRobot(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 AddCamera(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 DrawLine(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 ClearLine(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 SetObjectPose(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 SetTrajectoryList(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 SetFrameState(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 SetMaterial(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 SetLight(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_SimObservationServiceServicer_to_server(servicer, server):
+    rpc_method_handlers = {
+            'GetObservation': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetObservation,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.GetObservationReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.GetObservationRsp.SerializeToString,
+            ),
+            'Reset': grpc.unary_unary_rpc_method_handler(
+                    servicer.Reset,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ResetReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ResetRsp.SerializeToString,
+            ),
+            'AttachObj': grpc.unary_unary_rpc_method_handler(
+                    servicer.AttachObj,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.AttachReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.AttachRsp.SerializeToString,
+            ),
+            'DetachObj': grpc.unary_unary_rpc_method_handler(
+                    servicer.DetachObj,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.DetachReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.DetachRsp.SerializeToString,
+            ),
+            'MultiMove': grpc.unary_unary_rpc_method_handler(
+                    servicer.MultiMove,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.MultiMoveReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.MultiMoveRsp.SerializeToString,
+            ),
+            'GetObjectsOfType': grpc.unary_unary_rpc_method_handler(
+                    servicer.GetObjectsOfType,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.GetObjectsOfTypeReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.GetObjectsOfTypeRsp.SerializeToString,
+            ),
+            'TaskStatus': grpc.unary_unary_rpc_method_handler(
+                    servicer.TaskStatus,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.TaskStatusReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.TaskStatusRsp.SerializeToString,
+            ),
+            'Exit': grpc.unary_unary_rpc_method_handler(
+                    servicer.Exit,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ExitReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ExitRsp.SerializeToString,
+            ),
+            'InitRobot': grpc.unary_unary_rpc_method_handler(
+                    servicer.InitRobot,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.InitRobotReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.InitRobotRsp.SerializeToString,
+            ),
+            'AddCamera': grpc.unary_unary_rpc_method_handler(
+                    servicer.AddCamera,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.AddCameraReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.AddCameraRsp.SerializeToString,
+            ),
+            'DrawLine': grpc.unary_unary_rpc_method_handler(
+                    servicer.DrawLine,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.DrawLineReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.DrawLineRsp.SerializeToString,
+            ),
+            'ClearLine': grpc.unary_unary_rpc_method_handler(
+                    servicer.ClearLine,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ClearLineReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ClearLineRsp.SerializeToString,
+            ),
+            'SetObjectPose': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetObjectPose,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetObjectPoseReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetObjectPoseRsp.SerializeToString,
+            ),
+            'SetTrajectoryList': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetTrajectoryList,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetTrajectoryListReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetTrajectoryListRsp.SerializeToString,
+            ),
+            'SetFrameState': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetFrameState,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetFrameStateReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetFrameStateRsp.SerializeToString,
+            ),
+            'SetMaterial': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetMaterial,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetMaterailReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetMaterialRsp.SerializeToString,
+            ),
+            'SetLight': grpc.unary_unary_rpc_method_handler(
+                    servicer.SetLight,
+                    request_deserializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetLightReq.FromString,
+                    response_serializer=aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetLightRsp.SerializeToString,
+            ),
+    }
+    generic_handler = grpc.method_handlers_generic_handler(
+            'aimdk.protocol.SimObservationService', rpc_method_handlers)
+    server.add_generic_rpc_handlers((generic_handler,))
+
+
+ # This class is part of an EXPERIMENTAL API.
+class SimObservationService(object):
+    """Missing associated documentation comment in .proto file."""
+
+    @staticmethod
+    def GetObservation(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, '/aimdk.protocol.SimObservationService/GetObservation',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.GetObservationReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.GetObservationRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def Reset(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, '/aimdk.protocol.SimObservationService/Reset',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ResetReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ResetRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def AttachObj(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, '/aimdk.protocol.SimObservationService/AttachObj',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.AttachReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.AttachRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def DetachObj(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, '/aimdk.protocol.SimObservationService/DetachObj',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.DetachReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.DetachRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def MultiMove(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, '/aimdk.protocol.SimObservationService/MultiMove',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.MultiMoveReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.MultiMoveRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def GetObjectsOfType(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, '/aimdk.protocol.SimObservationService/GetObjectsOfType',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.GetObjectsOfTypeReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.GetObjectsOfTypeRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def TaskStatus(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, '/aimdk.protocol.SimObservationService/TaskStatus',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.TaskStatusReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.TaskStatusRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def Exit(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, '/aimdk.protocol.SimObservationService/Exit',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ExitReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ExitRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def InitRobot(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, '/aimdk.protocol.SimObservationService/InitRobot',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.InitRobotReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.InitRobotRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def AddCamera(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, '/aimdk.protocol.SimObservationService/AddCamera',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.AddCameraReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.AddCameraRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def DrawLine(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, '/aimdk.protocol.SimObservationService/DrawLine',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.DrawLineReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.DrawLineRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def ClearLine(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, '/aimdk.protocol.SimObservationService/ClearLine',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ClearLineReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.ClearLineRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def SetObjectPose(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, '/aimdk.protocol.SimObservationService/SetObjectPose',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetObjectPoseReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetObjectPoseRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def SetTrajectoryList(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, '/aimdk.protocol.SimObservationService/SetTrajectoryList',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetTrajectoryListReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetTrajectoryListRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def SetFrameState(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, '/aimdk.protocol.SimObservationService/SetFrameState',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetFrameStateReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetFrameStateRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def SetMaterial(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, '/aimdk.protocol.SimObservationService/SetMaterial',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetMaterailReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetMaterialRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)
+
+    @staticmethod
+    def SetLight(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, '/aimdk.protocol.SimObservationService/SetLight',
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetLightReq.SerializeToString,
+            aimdk_dot_protocol_dot_sim_dot_sim__observation__service__pb2.SetLightRsp.FromString,
+            options, channel_credentials,
+            insecure, call_credentials, compression, wait_for_ready, timeout, metadata)