diff --git a/.github/workflows/analyze.yaml b/.github/workflows/analyze.yaml
index 79808197..9c152959 100644
--- a/.github/workflows/analyze.yaml
+++ b/.github/workflows/analyze.yaml
@@ -25,6 +25,9 @@ jobs:
       - name: Analyze code
         run: dart analyze --fatal-infos
 
+      - name: Check arm auxillary formatting
+        run: dart format --output=none --set-exit-if-changed arm_auxillary/bin/* arm_auxillary/lib/*
+
       - name: Check autonomy formatting
         run: dart format --output=none --set-exit-if-changed autonomy/bin/* autonomy/lib/* autonomy/test/*
 
diff --git a/arm_auxillary/.gitignore b/arm_auxillary/.gitignore
new file mode 100644
index 00000000..2d9b0510
--- /dev/null
+++ b/arm_auxillary/.gitignore
@@ -0,0 +1,4 @@
+# https://dart.dev/guides/libraries/private-files
+# Created by `dart pub`
+.dart_tool/
+pubspec_overrides.yaml
diff --git a/arm_auxillary/README.md b/arm_auxillary/README.md
new file mode 100644
index 00000000..dfcd3131
--- /dev/null
+++ b/arm_auxillary/README.md
@@ -0,0 +1 @@
+Program for the auxillary board on the arm.
diff --git a/arm_auxillary/bin/arm_auxillary.dart b/arm_auxillary/bin/arm_auxillary.dart
new file mode 100644
index 00000000..0851a687
--- /dev/null
+++ b/arm_auxillary/bin/arm_auxillary.dart
@@ -0,0 +1,5 @@
+import "package:arm_auxillary/arm_auxillary.dart";
+
+void main() async {
+  await collection.init();
+}
diff --git a/arm_auxillary/lib/arm_auxillary.dart b/arm_auxillary/lib/arm_auxillary.dart
new file mode 100644
index 00000000..7952f100
--- /dev/null
+++ b/arm_auxillary/lib/arm_auxillary.dart
@@ -0,0 +1,82 @@
+import "dart:io";
+
+import "package:burt_network/burt_network.dart";
+
+import "src/firmware.dart";
+import "src/arm_camera_manager.dart";
+
+/// Logger for the arm auxillary program
+final logger = BurtLogger();
+
+/// The socket destination for the subsystems program
+final subsystemsSocket = SocketInfo(
+  address: InternetAddress("192.168.1.20"),
+  port: 8001,
+);
+
+/// The resouces needed to run the arm auxillary program
+class ArmAuxillary extends Service {
+  /// Whether the arm auxillary code is fully initialized.
+  bool isReady = false;
+
+  /// The Serial service.
+  late final firmware = FirmwareManager(
+    getServer: () => server,
+    logger: logger,
+  );
+
+  /// The camera manager for arm cameras.
+  final cameras = ArmCameraManager();
+
+  /// The server for the arm auxillary program
+  late final RoverSocket server = RoverSocket(
+    device: Device.ARM,
+    port: 8010,
+    collection: this,
+    destination: subsystemsSocket,
+    keepDestination: true,
+  );
+
+  @override
+  Future<bool> init() async {
+    var result = true;
+    logger.socket = server;
+    result &= await server.init();
+    // TODO(arm): Initialize the rest of the arm auxillary's resources, such as
+    // TODO(arm): arm and EA board communication
+    try {
+      result &= await firmware.init();
+      result &= await cameras.init();
+      cameras.setServer(server);
+      if (result) {
+        logger.info("Arm Auxillary software initialized");
+      } else {
+        logger.warning("The arm auxillary software did not start properly");
+      }
+      isReady = true;
+
+      // The arm auxillary software should keep running even when something goes wrong.
+      return true;
+    } catch (error) {
+      logger.critical(
+        "Unexpected error when initializing Arm Auxillary",
+        body: error.toString(),
+      );
+      return false;
+    }
+  }
+
+  @override
+  Future<void> dispose() async {
+    logger.info("Arm Auxillary software shutting down...");
+    isReady = false;
+    await cameras.dispose();
+    await firmware.dispose();
+    await server.dispose();
+    logger.socket = null;
+    logger.info("Subsystems disposed");
+  }
+}
+
+/// The collection of all the arm auxillary's resources
+final collection = ArmAuxillary();
diff --git a/arm_auxillary/lib/src/arm_camera_manager.dart b/arm_auxillary/lib/src/arm_camera_manager.dart
new file mode 100644
index 00000000..f870b837
--- /dev/null
+++ b/arm_auxillary/lib/src/arm_camera_manager.dart
@@ -0,0 +1,203 @@
+import "dart:async";
+import "dart:io";
+
+import "package:typed_isolate/typed_isolate.dart";
+import "package:burt_network/burt_network.dart";
+
+import "package:video/video.dart";
+
+/// Socket destination for the main video program on the Jetson
+final videoSocket = SocketInfo(
+  address: InternetAddress("192.168.1.30"),
+  port: 8004, // Video program port
+);
+
+/// Manages arm cameras and streams video data to the main video program.
+class ArmCameraManager extends Service {
+  /// The parent isolate that spawns the arm camera isolates.
+  final parent = IsolateParent<VideoCommand, IsolatePayload>();
+
+  /// Stream subscriptions for cleanup
+  StreamSubscription<VideoCommand>? _commands;
+  StreamSubscription<IsolatePayload>? _data;
+
+  /// Reference to the server for sending messages
+  RoverSocket? _server;
+
+  @override
+  Future<bool> init() async {
+    logger.info("Initializing arm camera manager");
+
+    parent.init();
+    _data = parent.stream.listen(onData);
+
+    await _spawnArmCameras();
+
+    logger.info("Arm camera manager initialized");
+    return true;
+  }
+
+  @override
+  Future<void> dispose() async {
+    logger.info("Disposing arm camera manager");
+
+    stopAll();
+
+    // Wait a bit after sending the stop command so the messages are received properly
+    await Future<void>.delayed(const Duration(milliseconds: 750));
+
+    await _commands?.cancel();
+    // Dispose the parent isolate and kill all children before canceling
+    // data subscription, just in case if one last native frame is received
+    await parent.dispose();
+
+    // Wait just a little bit to ensure any remaining messages get sent
+    // otherwise, if a message contained native memory, it will never
+    // be disposed
+    await Future<void>.delayed(const Duration(milliseconds: 50));
+
+    await _data?.cancel();
+
+    logger.info("Arm camera manager disposed");
+  }
+
+  /// Sets the server reference for message handling
+  void setServer(RoverSocket server) {
+    _server = server;
+
+    // Set up command subscription now that server is available
+    _commands = server.messages.onMessage<VideoCommand>(
+      name: VideoCommand().messageName,
+      constructor: VideoCommand.fromBuffer,
+      callback: _handleCommand,
+    );
+
+    logger.info("Arm camera manager connected to server");
+  }
+
+  /// Spawns camera isolates for detected arm cameras
+  Future<void> _spawnArmCameras() async {
+    logger.info("Detecting arm cameras...");
+
+    final armCameraNames = <CameraName>[
+      CameraName.ARM_LEFT,
+      CameraName.ARM_RIGHT,
+      CameraName.GAP_CAM,
+    ];
+
+    for (final cameraName in armCameraNames) {
+      try {
+        final details = _createArmCameraDetails(cameraName);
+        final isolate = OpenCVCameraIsolate(details: details);
+        await parent.spawn(isolate);
+
+        logger.info("Spawned camera isolate for $cameraName");
+      } catch (error) {
+        logger.error(
+          "Failed to spawn camera isolate for $cameraName",
+          body: error.toString(),
+        );
+      }
+    }
+  }
+
+  /// Creates camera details for arm cameras
+  CameraDetails _createArmCameraDetails(CameraName name) => CameraDetails(
+    name: name,
+    resolutionWidth: 640,
+    resolutionHeight: 480,
+    fps: 15,
+    quality: 80,
+    status: CameraStatus.CAMERA_LOADING,
+  );
+
+  /// Handles data coming from the arm camera isolates
+  void onData(IsolatePayload data) {
+    switch (data) {
+      case FramePayload(:final details, :final screenshotPath):
+        final image = data.image?.toU8List();
+        data.dispose();
+
+        if (_server != null && image != null) {
+          _server!.sendMessage(
+            VideoData(
+              frame: image,
+              details: details,
+              imagePath: screenshotPath,
+            ),
+            destination: videoSocket,
+          );
+        }
+
+      case LogPayload():
+        switch (data.level) {
+          case LogLevel.all:
+            logger.info("Camera isolate: ${data.message}", body: data.body);
+          // ignore: deprecated_member_use
+          case LogLevel.verbose:
+            logger.trace("Camera isolate: ${data.message}", body: data.body);
+          case LogLevel.trace:
+            logger.trace("Camera isolate: ${data.message}", body: data.body);
+          case LogLevel.debug:
+            logger.debug("Camera isolate: ${data.message}", body: data.body);
+          case LogLevel.info:
+            logger.info("Camera isolate: ${data.message}", body: data.body);
+          case LogLevel.warning:
+            logger.warning("Camera isolate: ${data.message}", body: data.body);
+          case LogLevel.error:
+            logger.error("Camera isolate: ${data.message}", body: data.body);
+          case LogLevel.fatal:
+            logger.critical("Camera isolate: ${data.message}", body: data.body);
+          case LogLevel.off:
+            logger.info("Camera isolate: ${data.message}", body: data.body);
+          // ignore: deprecated_member_use
+          case LogLevel.wtf:
+            logger.critical("Camera isolate: ${data.message}", body: data.body);
+          // ignore: deprecated_member_use
+          case LogLevel.nothing:
+            break;
+        }
+
+      case ObjectDetectionPayload(:final details, :final tags):
+        if (_server != null) {
+          final visionResult = VideoData(
+            details: details,
+            detectedObjects: tags,
+            version: Version(major: 1, minor: 2),
+          );
+          _server!.sendMessage(visionResult, destination: videoSocket);
+        }
+
+      default:
+        logger.warning("Unknown payload type from camera isolate");
+    }
+  }
+
+  /// Handles commands from the video program
+  void _handleCommand(VideoCommand command) {
+    logger.debug("Received camera command for ${command.details.name}");
+
+    // Route command to correct camera isolate
+    parent.sendToChild(data: command, id: command.details.name);
+  }
+
+  /// Stops all arm cameras
+  void stopAll() {
+    final stopCommand = VideoCommand(
+      details: CameraDetails(status: CameraStatus.CAMERA_DISABLED),
+    );
+
+    // Send stop command to all arm camera isolates
+    final armCameraNames = [
+      CameraName.ARM_LEFT,
+      CameraName.ARM_RIGHT,
+      CameraName.GAP_CAM,
+    ];
+
+    for (final name in armCameraNames) {
+      parent.sendToChild(data: stopCommand, id: name);
+    }
+
+    logger.info("Stopping all arm cameras");
+  }
+}
diff --git a/arm_auxillary/lib/src/firmware.dart b/arm_auxillary/lib/src/firmware.dart
new file mode 100644
index 00000000..81234113
--- /dev/null
+++ b/arm_auxillary/lib/src/firmware.dart
@@ -0,0 +1,76 @@
+import "dart:async";
+
+import "package:collection/collection.dart";
+
+import "package:burt_network/burt_network.dart";
+import "package:subsystems/subsystems.dart";
+
+/// Maps command names to [Device]s.
+final nameToDevice = <String, Device>{
+  ArmCommand().messageName: Device.ARM,
+  DriveCommand().messageName: Device.DRIVE,
+  ScienceCommand().messageName: Device.SCIENCE,
+  RelaysCommand().messageName: Device.RELAY,
+};
+
+/// Service to manage communication from the arm auxillary board to EA and HREI devices
+class FirmwareManager extends Service {
+  /// Reference to the server for routing messages
+  final RoverSocket? Function() getServer;
+
+  /// Logger instance
+  final BurtLogger logger;
+
+  /// Subscriptions to each of the firmware devices.
+  final List<StreamSubscription<WrappedMessage>> _subscriptions = [];
+
+  /// A list of firmware devices attached to the rover.
+  List<BurtFirmwareSerial> devices = [];
+
+  /// Creates a new FirmwareManager instance
+  FirmwareManager({required this.getServer, required this.logger});
+
+  @override
+  Future<bool> init() async {
+    devices = await getFirmwareDevices();
+    final server = getServer();
+    server?.messages.listen(_sendToSerial);
+    var result = true;
+    for (final device in devices) {
+      logger.debug("Initializing device: ${device.port}");
+      result &= await device.init();
+      if (!device.isReady) continue;
+      final subscription = device.messages.listen(
+        server?.sendWrapper ?? (_) {},
+      );
+      _subscriptions.add(subscription);
+    }
+    return result;
+  }
+
+  /// Sends messages from the server to the appropriate serial device
+  void _sendToSerial(WrappedMessage message) {
+    final device = nameToDevice[message.name];
+    if (device == null) return;
+    final serial = devices.firstWhereOrNull((s) => s.device == device);
+    if (serial == null) return;
+    serial.sendBytes(message.data);
+  }
+
+  @override
+  Future<void> dispose() async {
+    for (final subscription in _subscriptions) {
+      await subscription.cancel();
+    }
+    for (final device in devices) {
+      await device.dispose();
+    }
+  }
+
+  /// Sends a [Message] to the appropriate firmware device.
+  ///
+  /// This does nothing if the appropriate device is not connected. Specifically, this is not an
+  /// error because the Dashboard may be used during testing, when the hardware devices may not be
+  /// assembled, connected, or functional yet.
+  void sendMessage(Message message) => _sendToSerial(message.wrap());
+}
diff --git a/arm_auxillary/pubspec.yaml b/arm_auxillary/pubspec.yaml
new file mode 100644
index 00000000..6ad5e95b
--- /dev/null
+++ b/arm_auxillary/pubspec.yaml
@@ -0,0 +1,21 @@
+name: arm_auxillary
+description: A sample command-line application.
+version: 1.0.0
+publish_to: none
+
+resolution: workspace
+
+environment:
+  sdk: ^3.9.0
+
+# Add regular dependencies here.
+dependencies:
+  burt_network: ^2.8.0
+  collection: ^1.19.0
+  subsystems: ^1.0.0
+  video: ^1.1.0
+  typed_isolate: ^6.0.0
+  dartcv4: ^1.1.8
+
+dev_dependencies:
+  very_good_analysis: ^6.0.0
diff --git a/autonomy/.github/pubspec_overrides.yaml b/autonomy/.github/pubspec_overrides.yaml
new file mode 100644
index 00000000..e25d2156
--- /dev/null
+++ b/autonomy/.github/pubspec_overrides.yaml
@@ -0,0 +1,7 @@
+resolution:
+
+dependency_overrides:
+  burt_network:
+    git:
+      url: https://github.com/BinghamtonRover/Rover-Code.git
+      path: burt_network
\ No newline at end of file
diff --git a/autonomy/.github/workflows/analyze.yml b/autonomy/.github/workflows/analyze.yml
new file mode 100644
index 00000000..6761abc3
--- /dev/null
+++ b/autonomy/.github/workflows/analyze.yml
@@ -0,0 +1,42 @@
+name: Dart Analyzer
+
+on:
+  push:
+    branches: [ "main" ]
+  pull_request:
+
+jobs:
+  analyze:
+    runs-on: ubuntu-latest
+
+    steps:
+      - name: Clone repo
+        uses: actions/checkout@v4
+
+      # Note: This workflow uses the latest stable version of the Dart SDK.
+      # You can specify other versions if desired, see documentation here:
+      # https://github.com/dart-lang/setup-dart/blob/main/README.md
+      - name: Setup dart
+        uses: dart-lang/setup-dart@v1
+        with:
+          sdk: 3.9.0
+
+      # This package is part of a Pub Workspace. However, CI still needs to
+      # run on this repo by itself, so we want to override burt_network to use
+      # a Git dependency ONLY on GitHub Actions.
+      #
+      # To get around this, we commit the overrides to the .github folder where
+      # Dart can't find them, then copy them as part of the CI workflow.
+      - name: Install dependencies
+        run: |
+          mv .github/pubspec_overrides.yaml .
+          dart pub get
+
+      - name: Analyze project source
+        run: dart analyze --fatal-infos
+
+      # Your project will need to have tests in test/ and a dependency on
+      # package:test for this step to succeed. Note that Flutter projects will
+      # want to change this to 'flutter test'.
+      - name: Run tests
+        run: dart test
diff --git a/autonomy/.github/workflows/documentation.yml b/autonomy/.github/workflows/documentation.yml
new file mode 100644
index 00000000..4d214996
--- /dev/null
+++ b/autonomy/.github/workflows/documentation.yml
@@ -0,0 +1,42 @@
+name: Generate Dart Documentation
+
+on:
+  push:
+    branches: [ "main" ]
+
+jobs:
+  build:
+    runs-on: ubuntu-latest
+
+    steps:
+      - uses: actions/checkout@v3
+        with:
+          fetch-depth: 0
+
+      - name: Git Setup
+        run: |
+          git config user.name "GitHub Actions Bot"
+          git config user.email "<>"
+          git branch --all
+          git switch --track origin/documentation
+          git reset --hard origin/main
+
+      - name: Install Dart
+        uses: dart-lang/setup-dart@v1
+        with:
+          sdk: 3.9.0
+
+      - name: Install dependencies
+        run: dart pub get
+
+      - name: Generate documentation
+        run: dartdoc --ignore 'unresolved-doc-reference,not-implemented,no-documentable-libraries,ambiguous-reexport' --exclude 'dart:async,dart:collection,dart:convert,dart:core,dart:developer,dart:io,dart:isolate,dart:math,dart:typed_data,dart:ui,dart:html,dart:js,dart:ffi,dart:js_util' --quiet --json --output docs --no-validate-links --no-verbose-warnings --no-allow-non-local-warnings
+
+      - name: Commit and push files
+        run: |
+          cd docs
+          cd ..
+          git status
+          git stage --force docs
+          git commit -a -m "Generated documentation"
+          git push --force
diff --git a/burt_network/Protobuf b/burt_network/Protobuf
index 7d44b26c..06dc109a 160000
--- a/burt_network/Protobuf
+++ b/burt_network/Protobuf
@@ -1 +1 @@
-Subproject commit 7d44b26cd0d591c45fcfd0dbcaea7d718b59aeb7
+Subproject commit 06dc109a951bb384cd6640bd64685647ed33efe5
diff --git a/burt_network/lib/src/generated/arm.pb.dart b/burt_network/lib/src/generated/arm.pb.dart
index 858c4c6a..d9118b27 100644
--- a/burt_network/lib/src/generated/arm.pb.dart
+++ b/burt_network/lib/src/generated/arm.pb.dart
@@ -14,10 +14,10 @@ import 'dart:core' as $core;
 
 import 'package:protobuf/protobuf.dart' as $pb;
 
-import 'geometry.pb.dart' as $0;
-import 'motor.pb.dart' as $1;
+import 'geometry.pb.dart' as $2;
+import 'motor.pb.dart' as $0;
 import 'utils.pbenum.dart' as $3;
-import 'version.pb.dart' as $2;
+import 'version.pb.dart' as $1;
 
 export 'package:protobuf/protobuf.dart' show GeneratedMessageGenericExtensions;
 
@@ -187,22 +187,163 @@ class JointAngleData extends $pb.GeneratedMessage {
   void clearWristPitchMulti() => $_clearField(10);
 }
 
+class WristData extends $pb.GeneratedMessage {
+  factory WristData({
+    $core.double? pitchAngle,
+    $core.double? rollAngle,
+    $0.MotorData? motorA,
+    $0.MotorData? motorB,
+    $3.BoolState? isMoving,
+    $3.BoolState? isCalibrated,
+    $1.Version? version,
+  }) {
+    final result = create();
+    if (pitchAngle != null) result.pitchAngle = pitchAngle;
+    if (rollAngle != null) result.rollAngle = rollAngle;
+    if (motorA != null) result.motorA = motorA;
+    if (motorB != null) result.motorB = motorB;
+    if (isMoving != null) result.isMoving = isMoving;
+    if (isCalibrated != null) result.isCalibrated = isCalibrated;
+    if (version != null) result.version = version;
+    return result;
+  }
+
+  WristData._();
+
+  factory WristData.fromBuffer($core.List<$core.int> data,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromBuffer(data, registry);
+  factory WristData.fromJson($core.String json,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromJson(json, registry);
+
+  static final $pb.BuilderInfo _i = $pb.BuilderInfo(
+      _omitMessageNames ? '' : 'WristData',
+      createEmptyInstance: create)
+    ..aD(1, _omitFieldNames ? '' : 'pitchAngle', fieldType: $pb.PbFieldType.OF)
+    ..aD(2, _omitFieldNames ? '' : 'rollAngle', fieldType: $pb.PbFieldType.OF)
+    ..aOM<$0.MotorData>(3, _omitFieldNames ? '' : 'motorA',
+        protoName: 'motorA', subBuilder: $0.MotorData.create)
+    ..aOM<$0.MotorData>(4, _omitFieldNames ? '' : 'motorB',
+        protoName: 'motorB', subBuilder: $0.MotorData.create)
+    ..aE<$3.BoolState>(5, _omitFieldNames ? '' : 'isMoving',
+        enumValues: $3.BoolState.values)
+    ..aE<$3.BoolState>(6, _omitFieldNames ? '' : 'isCalibrated',
+        enumValues: $3.BoolState.values)
+    ..aOM<$1.Version>(7, _omitFieldNames ? '' : 'version',
+        subBuilder: $1.Version.create)
+    ..hasRequiredFields = false;
+
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  WristData clone() => deepCopy();
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  WristData copyWith(void Function(WristData) updates) =>
+      super.copyWith((message) => updates(message as WristData)) as WristData;
+
+  @$core.override
+  $pb.BuilderInfo get info_ => _i;
+
+  @$core.pragma('dart2js:noInline')
+  static WristData create() => WristData._();
+  @$core.override
+  WristData createEmptyInstance() => create();
+  @$core.pragma('dart2js:noInline')
+  static WristData getDefault() =>
+      _defaultInstance ??= $pb.GeneratedMessage.$_defaultFor<WristData>(create);
+  static WristData? _defaultInstance;
+
+  /// Virtual joint state (what the subsystem thinks pitch/roll are).
+  @$pb.TagNumber(1)
+  $core.double get pitchAngle => $_getN(0);
+  @$pb.TagNumber(1)
+  set pitchAngle($core.double value) => $_setFloat(0, value);
+  @$pb.TagNumber(1)
+  $core.bool hasPitchAngle() => $_has(0);
+  @$pb.TagNumber(1)
+  void clearPitchAngle() => $_clearField(1);
+
+  @$pb.TagNumber(2)
+  $core.double get rollAngle => $_getN(1);
+  @$pb.TagNumber(2)
+  set rollAngle($core.double value) => $_setFloat(1, value);
+  @$pb.TagNumber(2)
+  $core.bool hasRollAngle() => $_has(1);
+  @$pb.TagNumber(2)
+  void clearRollAngle() => $_clearField(2);
+
+  @$pb.TagNumber(3)
+  $0.MotorData get motorA => $_getN(2);
+  @$pb.TagNumber(3)
+  set motorA($0.MotorData value) => $_setField(3, value);
+  @$pb.TagNumber(3)
+  $core.bool hasMotorA() => $_has(2);
+  @$pb.TagNumber(3)
+  void clearMotorA() => $_clearField(3);
+  @$pb.TagNumber(3)
+  $0.MotorData ensureMotorA() => $_ensure(2);
+
+  @$pb.TagNumber(4)
+  $0.MotorData get motorB => $_getN(3);
+  @$pb.TagNumber(4)
+  set motorB($0.MotorData value) => $_setField(4, value);
+  @$pb.TagNumber(4)
+  $core.bool hasMotorB() => $_has(3);
+  @$pb.TagNumber(4)
+  void clearMotorB() => $_clearField(4);
+  @$pb.TagNumber(4)
+  $0.MotorData ensureMotorB() => $_ensure(3);
+
+  /// Overall health/status flags
+  @$pb.TagNumber(5)
+  $3.BoolState get isMoving => $_getN(4);
+  @$pb.TagNumber(5)
+  set isMoving($3.BoolState value) => $_setField(5, value);
+  @$pb.TagNumber(5)
+  $core.bool hasIsMoving() => $_has(4);
+  @$pb.TagNumber(5)
+  void clearIsMoving() => $_clearField(5);
+
+  @$pb.TagNumber(6)
+  $3.BoolState get isCalibrated => $_getN(5);
+  @$pb.TagNumber(6)
+  set isCalibrated($3.BoolState value) => $_setField(6, value);
+  @$pb.TagNumber(6)
+  $core.bool hasIsCalibrated() => $_has(5);
+  @$pb.TagNumber(6)
+  void clearIsCalibrated() => $_clearField(6);
+
+  @$pb.TagNumber(7)
+  $1.Version get version => $_getN(6);
+  @$pb.TagNumber(7)
+  set version($1.Version value) => $_setField(7, value);
+  @$pb.TagNumber(7)
+  $core.bool hasVersion() => $_has(6);
+  @$pb.TagNumber(7)
+  void clearVersion() => $_clearField(7);
+  @$pb.TagNumber(7)
+  $1.Version ensureVersion() => $_ensure(6);
+}
+
 class ArmData extends $pb.GeneratedMessage {
   factory ArmData({
-    $0.Coordinates? currentPosition,
-    $0.Coordinates? targetPosition,
-    $1.MotorData? base,
-    $1.MotorData? shoulder,
-    $1.MotorData? elbow,
-    $2.Version? version,
+    $2.Coordinates? currentPosition,
+    $2.Coordinates? targetPosition,
+    $0.MotorData? base,
+    $0.MotorData? shoulder,
+    $0.MotorData? elbow,
+    $1.Version? version,
     $core.double? ussDistance,
-    $1.MotorData? lift,
-    $1.MotorData? rotate,
-    $1.MotorData? pinch,
+    $0.MotorData? lift,
+    $0.MotorData? rotate,
+    $0.MotorData? pinch,
     $core.int? servoAngle,
     $3.BoolState? laserState,
-    $1.MotorData? roll,
+    $0.MotorData? roll,
     JointAngleData? jointAngles,
+    WristData? wrist,
+    $3.BoolState? usingIk,
+    $2.Orientation? currentOrientation,
+    $2.Orientation? targetOrientation,
   }) {
     final result = create();
     if (currentPosition != null) result.currentPosition = currentPosition;
@@ -219,6 +360,11 @@ class ArmData extends $pb.GeneratedMessage {
     if (laserState != null) result.laserState = laserState;
     if (roll != null) result.roll = roll;
     if (jointAngles != null) result.jointAngles = jointAngles;
+    if (wrist != null) result.wrist = wrist;
+    if (usingIk != null) result.usingIk = usingIk;
+    if (currentOrientation != null)
+      result.currentOrientation = currentOrientation;
+    if (targetOrientation != null) result.targetOrientation = targetOrientation;
     return result;
   }
 
@@ -234,32 +380,40 @@ class ArmData extends $pb.GeneratedMessage {
   static final $pb.BuilderInfo _i = $pb.BuilderInfo(
       _omitMessageNames ? '' : 'ArmData',
       createEmptyInstance: create)
-    ..aOM<$0.Coordinates>(1, _omitFieldNames ? '' : 'currentPosition',
-        subBuilder: $0.Coordinates.create)
-    ..aOM<$0.Coordinates>(2, _omitFieldNames ? '' : 'targetPosition',
-        subBuilder: $0.Coordinates.create)
-    ..aOM<$1.MotorData>(3, _omitFieldNames ? '' : 'base',
-        subBuilder: $1.MotorData.create)
-    ..aOM<$1.MotorData>(4, _omitFieldNames ? '' : 'shoulder',
-        subBuilder: $1.MotorData.create)
-    ..aOM<$1.MotorData>(5, _omitFieldNames ? '' : 'elbow',
-        subBuilder: $1.MotorData.create)
-    ..aOM<$2.Version>(6, _omitFieldNames ? '' : 'version',
-        subBuilder: $2.Version.create)
+    ..aOM<$2.Coordinates>(1, _omitFieldNames ? '' : 'currentPosition',
+        subBuilder: $2.Coordinates.create)
+    ..aOM<$2.Coordinates>(2, _omitFieldNames ? '' : 'targetPosition',
+        subBuilder: $2.Coordinates.create)
+    ..aOM<$0.MotorData>(3, _omitFieldNames ? '' : 'base',
+        subBuilder: $0.MotorData.create)
+    ..aOM<$0.MotorData>(4, _omitFieldNames ? '' : 'shoulder',
+        subBuilder: $0.MotorData.create)
+    ..aOM<$0.MotorData>(5, _omitFieldNames ? '' : 'elbow',
+        subBuilder: $0.MotorData.create)
+    ..aOM<$1.Version>(6, _omitFieldNames ? '' : 'version',
+        subBuilder: $1.Version.create)
     ..aD(7, _omitFieldNames ? '' : 'ussDistance', fieldType: $pb.PbFieldType.OF)
-    ..aOM<$1.MotorData>(8, _omitFieldNames ? '' : 'lift',
-        subBuilder: $1.MotorData.create)
-    ..aOM<$1.MotorData>(9, _omitFieldNames ? '' : 'rotate',
-        subBuilder: $1.MotorData.create)
-    ..aOM<$1.MotorData>(10, _omitFieldNames ? '' : 'pinch',
-        subBuilder: $1.MotorData.create)
+    ..aOM<$0.MotorData>(8, _omitFieldNames ? '' : 'lift',
+        subBuilder: $0.MotorData.create)
+    ..aOM<$0.MotorData>(9, _omitFieldNames ? '' : 'rotate',
+        subBuilder: $0.MotorData.create)
+    ..aOM<$0.MotorData>(10, _omitFieldNames ? '' : 'pinch',
+        subBuilder: $0.MotorData.create)
     ..aI(11, _omitFieldNames ? '' : 'servoAngle')
     ..aE<$3.BoolState>(12, _omitFieldNames ? '' : 'laserState',
         enumValues: $3.BoolState.values)
-    ..aOM<$1.MotorData>(13, _omitFieldNames ? '' : 'roll',
-        subBuilder: $1.MotorData.create)
+    ..aOM<$0.MotorData>(13, _omitFieldNames ? '' : 'roll',
+        subBuilder: $0.MotorData.create)
     ..aOM<JointAngleData>(14, _omitFieldNames ? '' : 'jointAngles',
         subBuilder: JointAngleData.create)
+    ..aOM<WristData>(15, _omitFieldNames ? '' : 'wrist',
+        subBuilder: WristData.create)
+    ..aE<$3.BoolState>(16, _omitFieldNames ? '' : 'usingIk',
+        enumValues: $3.BoolState.values)
+    ..aOM<$2.Orientation>(17, _omitFieldNames ? '' : 'currentOrientation',
+        subBuilder: $2.Orientation.create)
+    ..aOM<$2.Orientation>(18, _omitFieldNames ? '' : 'targetOrientation',
+        subBuilder: $2.Orientation.create)
     ..hasRequiredFields = false;
 
   @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
@@ -282,70 +436,70 @@ class ArmData extends $pb.GeneratedMessage {
 
   /// Arm Commands
   @$pb.TagNumber(1)
-  $0.Coordinates get currentPosition => $_getN(0);
+  $2.Coordinates get currentPosition => $_getN(0);
   @$pb.TagNumber(1)
-  set currentPosition($0.Coordinates value) => $_setField(1, value);
+  set currentPosition($2.Coordinates value) => $_setField(1, value);
   @$pb.TagNumber(1)
   $core.bool hasCurrentPosition() => $_has(0);
   @$pb.TagNumber(1)
   void clearCurrentPosition() => $_clearField(1);
   @$pb.TagNumber(1)
-  $0.Coordinates ensureCurrentPosition() => $_ensure(0);
+  $2.Coordinates ensureCurrentPosition() => $_ensure(0);
 
   @$pb.TagNumber(2)
-  $0.Coordinates get targetPosition => $_getN(1);
+  $2.Coordinates get targetPosition => $_getN(1);
   @$pb.TagNumber(2)
-  set targetPosition($0.Coordinates value) => $_setField(2, value);
+  set targetPosition($2.Coordinates value) => $_setField(2, value);
   @$pb.TagNumber(2)
   $core.bool hasTargetPosition() => $_has(1);
   @$pb.TagNumber(2)
   void clearTargetPosition() => $_clearField(2);
   @$pb.TagNumber(2)
-  $0.Coordinates ensureTargetPosition() => $_ensure(1);
+  $2.Coordinates ensureTargetPosition() => $_ensure(1);
 
   @$pb.TagNumber(3)
-  $1.MotorData get base => $_getN(2);
+  $0.MotorData get base => $_getN(2);
   @$pb.TagNumber(3)
-  set base($1.MotorData value) => $_setField(3, value);
+  set base($0.MotorData value) => $_setField(3, value);
   @$pb.TagNumber(3)
   $core.bool hasBase() => $_has(2);
   @$pb.TagNumber(3)
   void clearBase() => $_clearField(3);
   @$pb.TagNumber(3)
-  $1.MotorData ensureBase() => $_ensure(2);
+  $0.MotorData ensureBase() => $_ensure(2);
 
   @$pb.TagNumber(4)
-  $1.MotorData get shoulder => $_getN(3);
+  $0.MotorData get shoulder => $_getN(3);
   @$pb.TagNumber(4)
-  set shoulder($1.MotorData value) => $_setField(4, value);
+  set shoulder($0.MotorData value) => $_setField(4, value);
   @$pb.TagNumber(4)
   $core.bool hasShoulder() => $_has(3);
   @$pb.TagNumber(4)
   void clearShoulder() => $_clearField(4);
   @$pb.TagNumber(4)
-  $1.MotorData ensureShoulder() => $_ensure(3);
+  $0.MotorData ensureShoulder() => $_ensure(3);
 
   @$pb.TagNumber(5)
-  $1.MotorData get elbow => $_getN(4);
+  $0.MotorData get elbow => $_getN(4);
   @$pb.TagNumber(5)
-  set elbow($1.MotorData value) => $_setField(5, value);
+  set elbow($0.MotorData value) => $_setField(5, value);
   @$pb.TagNumber(5)
   $core.bool hasElbow() => $_has(4);
   @$pb.TagNumber(5)
   void clearElbow() => $_clearField(5);
   @$pb.TagNumber(5)
-  $1.MotorData ensureElbow() => $_ensure(4);
+  $0.MotorData ensureElbow() => $_ensure(4);
 
   @$pb.TagNumber(6)
-  $2.Version get version => $_getN(5);
+  $1.Version get version => $_getN(5);
   @$pb.TagNumber(6)
-  set version($2.Version value) => $_setField(6, value);
+  set version($1.Version value) => $_setField(6, value);
   @$pb.TagNumber(6)
   $core.bool hasVersion() => $_has(5);
   @$pb.TagNumber(6)
   void clearVersion() => $_clearField(6);
   @$pb.TagNumber(6)
-  $2.Version ensureVersion() => $_ensure(5);
+  $1.Version ensureVersion() => $_ensure(5);
 
   /// USS data
   @$pb.TagNumber(7)
@@ -359,37 +513,37 @@ class ArmData extends $pb.GeneratedMessage {
 
   /// Gripper Commands
   @$pb.TagNumber(8)
-  $1.MotorData get lift => $_getN(7);
+  $0.MotorData get lift => $_getN(7);
   @$pb.TagNumber(8)
-  set lift($1.MotorData value) => $_setField(8, value);
+  set lift($0.MotorData value) => $_setField(8, value);
   @$pb.TagNumber(8)
   $core.bool hasLift() => $_has(7);
   @$pb.TagNumber(8)
   void clearLift() => $_clearField(8);
   @$pb.TagNumber(8)
-  $1.MotorData ensureLift() => $_ensure(7);
+  $0.MotorData ensureLift() => $_ensure(7);
 
   @$pb.TagNumber(9)
-  $1.MotorData get rotate => $_getN(8);
+  $0.MotorData get rotate => $_getN(8);
   @$pb.TagNumber(9)
-  set rotate($1.MotorData value) => $_setField(9, value);
+  set rotate($0.MotorData value) => $_setField(9, value);
   @$pb.TagNumber(9)
   $core.bool hasRotate() => $_has(8);
   @$pb.TagNumber(9)
   void clearRotate() => $_clearField(9);
   @$pb.TagNumber(9)
-  $1.MotorData ensureRotate() => $_ensure(8);
+  $0.MotorData ensureRotate() => $_ensure(8);
 
   @$pb.TagNumber(10)
-  $1.MotorData get pinch => $_getN(9);
+  $0.MotorData get pinch => $_getN(9);
   @$pb.TagNumber(10)
-  set pinch($1.MotorData value) => $_setField(10, value);
+  set pinch($0.MotorData value) => $_setField(10, value);
   @$pb.TagNumber(10)
   $core.bool hasPinch() => $_has(9);
   @$pb.TagNumber(10)
   void clearPinch() => $_clearField(10);
   @$pb.TagNumber(10)
-  $1.MotorData ensurePinch() => $_ensure(9);
+  $0.MotorData ensurePinch() => $_ensure(9);
 
   @$pb.TagNumber(11)
   $core.int get servoAngle => $_getIZ(10);
@@ -410,15 +564,15 @@ class ArmData extends $pb.GeneratedMessage {
   void clearLaserState() => $_clearField(12);
 
   @$pb.TagNumber(13)
-  $1.MotorData get roll => $_getN(12);
+  $0.MotorData get roll => $_getN(12);
   @$pb.TagNumber(13)
-  set roll($1.MotorData value) => $_setField(13, value);
+  set roll($0.MotorData value) => $_setField(13, value);
   @$pb.TagNumber(13)
   $core.bool hasRoll() => $_has(12);
   @$pb.TagNumber(13)
   void clearRoll() => $_clearField(13);
   @$pb.TagNumber(13)
-  $1.MotorData ensureRoll() => $_ensure(12);
+  $0.MotorData ensureRoll() => $_ensure(12);
 
   @$pb.TagNumber(14)
   JointAngleData get jointAngles => $_getN(13);
@@ -430,31 +584,191 @@ class ArmData extends $pb.GeneratedMessage {
   void clearJointAngles() => $_clearField(14);
   @$pb.TagNumber(14)
   JointAngleData ensureJointAngles() => $_ensure(13);
+
+  @$pb.TagNumber(15)
+  WristData get wrist => $_getN(14);
+  @$pb.TagNumber(15)
+  set wrist(WristData value) => $_setField(15, value);
+  @$pb.TagNumber(15)
+  $core.bool hasWrist() => $_has(14);
+  @$pb.TagNumber(15)
+  void clearWrist() => $_clearField(15);
+  @$pb.TagNumber(15)
+  WristData ensureWrist() => $_ensure(14);
+
+  @$pb.TagNumber(16)
+  $3.BoolState get usingIk => $_getN(15);
+  @$pb.TagNumber(16)
+  set usingIk($3.BoolState value) => $_setField(16, value);
+  @$pb.TagNumber(16)
+  $core.bool hasUsingIk() => $_has(15);
+  @$pb.TagNumber(16)
+  void clearUsingIk() => $_clearField(16);
+
+  @$pb.TagNumber(17)
+  $2.Orientation get currentOrientation => $_getN(16);
+  @$pb.TagNumber(17)
+  set currentOrientation($2.Orientation value) => $_setField(17, value);
+  @$pb.TagNumber(17)
+  $core.bool hasCurrentOrientation() => $_has(16);
+  @$pb.TagNumber(17)
+  void clearCurrentOrientation() => $_clearField(17);
+  @$pb.TagNumber(17)
+  $2.Orientation ensureCurrentOrientation() => $_ensure(16);
+
+  @$pb.TagNumber(18)
+  $2.Orientation get targetOrientation => $_getN(17);
+  @$pb.TagNumber(18)
+  set targetOrientation($2.Orientation value) => $_setField(18, value);
+  @$pb.TagNumber(18)
+  $core.bool hasTargetOrientation() => $_has(17);
+  @$pb.TagNumber(18)
+  void clearTargetOrientation() => $_clearField(18);
+  @$pb.TagNumber(18)
+  $2.Orientation ensureTargetOrientation() => $_ensure(17);
+}
+
+class WristCommand extends $pb.GeneratedMessage {
+  factory WristCommand({
+    $core.bool? stop,
+    $core.bool? calibrate,
+    $0.MotorCommand? pitch,
+    $0.MotorCommand? roll,
+    $1.Version? version,
+  }) {
+    final result = create();
+    if (stop != null) result.stop = stop;
+    if (calibrate != null) result.calibrate = calibrate;
+    if (pitch != null) result.pitch = pitch;
+    if (roll != null) result.roll = roll;
+    if (version != null) result.version = version;
+    return result;
+  }
+
+  WristCommand._();
+
+  factory WristCommand.fromBuffer($core.List<$core.int> data,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromBuffer(data, registry);
+  factory WristCommand.fromJson($core.String json,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromJson(json, registry);
+
+  static final $pb.BuilderInfo _i = $pb.BuilderInfo(
+      _omitMessageNames ? '' : 'WristCommand',
+      createEmptyInstance: create)
+    ..aOB(1, _omitFieldNames ? '' : 'stop')
+    ..aOB(2, _omitFieldNames ? '' : 'calibrate')
+    ..aOM<$0.MotorCommand>(3, _omitFieldNames ? '' : 'pitch',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(4, _omitFieldNames ? '' : 'roll',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$1.Version>(5, _omitFieldNames ? '' : 'version',
+        subBuilder: $1.Version.create)
+    ..hasRequiredFields = false;
+
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  WristCommand clone() => deepCopy();
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  WristCommand copyWith(void Function(WristCommand) updates) =>
+      super.copyWith((message) => updates(message as WristCommand))
+          as WristCommand;
+
+  @$core.override
+  $pb.BuilderInfo get info_ => _i;
+
+  @$core.pragma('dart2js:noInline')
+  static WristCommand create() => WristCommand._();
+  @$core.override
+  WristCommand createEmptyInstance() => create();
+  @$core.pragma('dart2js:noInline')
+  static WristCommand getDefault() => _defaultInstance ??=
+      $pb.GeneratedMessage.$_defaultFor<WristCommand>(create);
+  static WristCommand? _defaultInstance;
+
+  /// General commands for wrist
+  @$pb.TagNumber(1)
+  $core.bool get stop => $_getBF(0);
+  @$pb.TagNumber(1)
+  set stop($core.bool value) => $_setBool(0, value);
+  @$pb.TagNumber(1)
+  $core.bool hasStop() => $_has(0);
+  @$pb.TagNumber(1)
+  void clearStop() => $_clearField(1);
+
+  @$pb.TagNumber(2)
+  $core.bool get calibrate => $_getBF(1);
+  @$pb.TagNumber(2)
+  set calibrate($core.bool value) => $_setBool(1, value);
+  @$pb.TagNumber(2)
+  $core.bool hasCalibrate() => $_has(1);
+  @$pb.TagNumber(2)
+  void clearCalibrate() => $_clearField(2);
+
+  /// Virtual joints (preferred): command the coupled wrist DOFs.
+  /// Firmware may execute one axis at a time for mechanical safety.
+  @$pb.TagNumber(3)
+  $0.MotorCommand get pitch => $_getN(2);
+  @$pb.TagNumber(3)
+  set pitch($0.MotorCommand value) => $_setField(3, value);
+  @$pb.TagNumber(3)
+  $core.bool hasPitch() => $_has(2);
+  @$pb.TagNumber(3)
+  void clearPitch() => $_clearField(3);
+  @$pb.TagNumber(3)
+  $0.MotorCommand ensurePitch() => $_ensure(2);
+
+  @$pb.TagNumber(4)
+  $0.MotorCommand get roll => $_getN(3);
+  @$pb.TagNumber(4)
+  set roll($0.MotorCommand value) => $_setField(4, value);
+  @$pb.TagNumber(4)
+  $core.bool hasRoll() => $_has(3);
+  @$pb.TagNumber(4)
+  void clearRoll() => $_clearField(4);
+  @$pb.TagNumber(4)
+  $0.MotorCommand ensureRoll() => $_ensure(3);
+
+  @$pb.TagNumber(5)
+  $1.Version get version => $_getN(4);
+  @$pb.TagNumber(5)
+  set version($1.Version value) => $_setField(5, value);
+  @$pb.TagNumber(5)
+  $core.bool hasVersion() => $_has(4);
+  @$pb.TagNumber(5)
+  void clearVersion() => $_clearField(5);
+  @$pb.TagNumber(5)
+  $1.Version ensureVersion() => $_ensure(4);
 }
 
 class ArmCommand extends $pb.GeneratedMessage {
   factory ArmCommand({
     $core.bool? stop,
     $core.bool? calibrate,
-    $1.MotorCommand? swivel,
-    $1.MotorCommand? shoulder,
-    $1.MotorCommand? elbow,
-    $1.MotorCommand? gripperLift,
+    $0.MotorCommand? swivel,
+    $0.MotorCommand? shoulder,
+    $0.MotorCommand? elbow,
+    $0.MotorCommand? gripperLift,
     $core.double? ikX,
     $core.double? ikY,
     $core.double? ikZ,
     $core.bool? jab,
-    $2.Version? version,
+    $1.Version? version,
     $3.BoolState? startUss,
-    $1.MotorCommand? lift,
-    $1.MotorCommand? rotate,
-    $1.MotorCommand? pinch,
+    $0.MotorCommand? lift,
+    $0.MotorCommand? rotate,
+    $0.MotorCommand? pinch,
     $core.bool? open,
     $core.bool? close,
     $core.bool? spin,
     $core.int? servoAngle,
     $3.BoolState? laserState,
-    $1.MotorCommand? roll,
+    $0.MotorCommand? roll,
+    WristCommand? wrist,
+    $3.BoolState? usingIk,
+    $core.double? ikPitch,
+    $core.double? ikYaw,
+    $2.Pose3d? pose,
   }) {
     final result = create();
     if (stop != null) result.stop = stop;
@@ -478,6 +792,11 @@ class ArmCommand extends $pb.GeneratedMessage {
     if (servoAngle != null) result.servoAngle = servoAngle;
     if (laserState != null) result.laserState = laserState;
     if (roll != null) result.roll = roll;
+    if (wrist != null) result.wrist = wrist;
+    if (usingIk != null) result.usingIk = usingIk;
+    if (ikPitch != null) result.ikPitch = ikPitch;
+    if (ikYaw != null) result.ikYaw = ikYaw;
+    if (pose != null) result.pose = pose;
     return result;
   }
 
@@ -495,36 +814,44 @@ class ArmCommand extends $pb.GeneratedMessage {
       createEmptyInstance: create)
     ..aOB(1, _omitFieldNames ? '' : 'stop')
     ..aOB(2, _omitFieldNames ? '' : 'calibrate')
-    ..aOM<$1.MotorCommand>(3, _omitFieldNames ? '' : 'swivel',
-        subBuilder: $1.MotorCommand.create)
-    ..aOM<$1.MotorCommand>(4, _omitFieldNames ? '' : 'shoulder',
-        subBuilder: $1.MotorCommand.create)
-    ..aOM<$1.MotorCommand>(5, _omitFieldNames ? '' : 'elbow',
-        subBuilder: $1.MotorCommand.create)
-    ..aOM<$1.MotorCommand>(6, _omitFieldNames ? '' : 'gripperLift',
-        subBuilder: $1.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(3, _omitFieldNames ? '' : 'swivel',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(4, _omitFieldNames ? '' : 'shoulder',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(5, _omitFieldNames ? '' : 'elbow',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(6, _omitFieldNames ? '' : 'gripperLift',
+        subBuilder: $0.MotorCommand.create)
     ..aD(7, _omitFieldNames ? '' : 'ikX', fieldType: $pb.PbFieldType.OF)
     ..aD(8, _omitFieldNames ? '' : 'ikY', fieldType: $pb.PbFieldType.OF)
     ..aD(9, _omitFieldNames ? '' : 'ikZ', fieldType: $pb.PbFieldType.OF)
     ..aOB(10, _omitFieldNames ? '' : 'jab')
-    ..aOM<$2.Version>(11, _omitFieldNames ? '' : 'version',
-        subBuilder: $2.Version.create)
+    ..aOM<$1.Version>(11, _omitFieldNames ? '' : 'version',
+        subBuilder: $1.Version.create)
     ..aE<$3.BoolState>(12, _omitFieldNames ? '' : 'startUss',
         enumValues: $3.BoolState.values)
-    ..aOM<$1.MotorCommand>(13, _omitFieldNames ? '' : 'lift',
-        subBuilder: $1.MotorCommand.create)
-    ..aOM<$1.MotorCommand>(14, _omitFieldNames ? '' : 'rotate',
-        subBuilder: $1.MotorCommand.create)
-    ..aOM<$1.MotorCommand>(15, _omitFieldNames ? '' : 'pinch',
-        subBuilder: $1.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(13, _omitFieldNames ? '' : 'lift',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(14, _omitFieldNames ? '' : 'rotate',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(15, _omitFieldNames ? '' : 'pinch',
+        subBuilder: $0.MotorCommand.create)
     ..aOB(16, _omitFieldNames ? '' : 'open')
     ..aOB(17, _omitFieldNames ? '' : 'close')
     ..aOB(18, _omitFieldNames ? '' : 'spin')
     ..aI(19, _omitFieldNames ? '' : 'servoAngle')
     ..aE<$3.BoolState>(20, _omitFieldNames ? '' : 'laserState',
         enumValues: $3.BoolState.values)
-    ..aOM<$1.MotorCommand>(21, _omitFieldNames ? '' : 'roll',
-        subBuilder: $1.MotorCommand.create)
+    ..aOM<$0.MotorCommand>(21, _omitFieldNames ? '' : 'roll',
+        subBuilder: $0.MotorCommand.create)
+    ..aOM<WristCommand>(22, _omitFieldNames ? '' : 'wrist',
+        subBuilder: WristCommand.create)
+    ..aE<$3.BoolState>(23, _omitFieldNames ? '' : 'usingIk',
+        enumValues: $3.BoolState.values)
+    ..aD(24, _omitFieldNames ? '' : 'ikPitch', fieldType: $pb.PbFieldType.OF)
+    ..aD(25, _omitFieldNames ? '' : 'ikYaw', fieldType: $pb.PbFieldType.OF)
+    ..aOM<$2.Pose3d>(26, _omitFieldNames ? '' : 'pose',
+        subBuilder: $2.Pose3d.create)
     ..hasRequiredFields = false;
 
   @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
@@ -566,50 +893,48 @@ class ArmCommand extends $pb.GeneratedMessage {
 
   /// Move individual motors
   @$pb.TagNumber(3)
-  $1.MotorCommand get swivel => $_getN(2);
+  $0.MotorCommand get swivel => $_getN(2);
   @$pb.TagNumber(3)
-  set swivel($1.MotorCommand value) => $_setField(3, value);
+  set swivel($0.MotorCommand value) => $_setField(3, value);
   @$pb.TagNumber(3)
   $core.bool hasSwivel() => $_has(2);
   @$pb.TagNumber(3)
   void clearSwivel() => $_clearField(3);
   @$pb.TagNumber(3)
-  $1.MotorCommand ensureSwivel() => $_ensure(2);
+  $0.MotorCommand ensureSwivel() => $_ensure(2);
 
   @$pb.TagNumber(4)
-  $1.MotorCommand get shoulder => $_getN(3);
+  $0.MotorCommand get shoulder => $_getN(3);
   @$pb.TagNumber(4)
-  set shoulder($1.MotorCommand value) => $_setField(4, value);
+  set shoulder($0.MotorCommand value) => $_setField(4, value);
   @$pb.TagNumber(4)
   $core.bool hasShoulder() => $_has(3);
   @$pb.TagNumber(4)
   void clearShoulder() => $_clearField(4);
   @$pb.TagNumber(4)
-  $1.MotorCommand ensureShoulder() => $_ensure(3);
+  $0.MotorCommand ensureShoulder() => $_ensure(3);
 
   @$pb.TagNumber(5)
-  $1.MotorCommand get elbow => $_getN(4);
+  $0.MotorCommand get elbow => $_getN(4);
   @$pb.TagNumber(5)
-  set elbow($1.MotorCommand value) => $_setField(5, value);
+  set elbow($0.MotorCommand value) => $_setField(5, value);
   @$pb.TagNumber(5)
   $core.bool hasElbow() => $_has(4);
   @$pb.TagNumber(5)
   void clearElbow() => $_clearField(5);
   @$pb.TagNumber(5)
-  $1.MotorCommand ensureElbow() => $_ensure(4);
+  $0.MotorCommand ensureElbow() => $_ensure(4);
 
-  /// Needed for IK: If the wrist-lift moves, we need to re-calculate IK to keep the end-effector
-  /// stationary. See /Arm/src/ik/README.md in the Arm-Firmware repository.
   @$pb.TagNumber(6)
-  $1.MotorCommand get gripperLift => $_getN(5);
+  $0.MotorCommand get gripperLift => $_getN(5);
   @$pb.TagNumber(6)
-  set gripperLift($1.MotorCommand value) => $_setField(6, value);
+  set gripperLift($0.MotorCommand value) => $_setField(6, value);
   @$pb.TagNumber(6)
   $core.bool hasGripperLift() => $_has(5);
   @$pb.TagNumber(6)
   void clearGripperLift() => $_clearField(6);
   @$pb.TagNumber(6)
-  $1.MotorCommand ensureGripperLift() => $_ensure(5);
+  $0.MotorCommand ensureGripperLift() => $_ensure(5);
 
   /// Can be removed in future versions
   @$pb.TagNumber(7)
@@ -650,15 +975,15 @@ class ArmCommand extends $pb.GeneratedMessage {
   void clearJab() => $_clearField(10);
 
   @$pb.TagNumber(11)
-  $2.Version get version => $_getN(10);
+  $1.Version get version => $_getN(10);
   @$pb.TagNumber(11)
-  set version($2.Version value) => $_setField(11, value);
+  set version($1.Version value) => $_setField(11, value);
   @$pb.TagNumber(11)
   $core.bool hasVersion() => $_has(10);
   @$pb.TagNumber(11)
   void clearVersion() => $_clearField(11);
   @$pb.TagNumber(11)
-  $2.Version ensureVersion() => $_ensure(10);
+  $1.Version ensureVersion() => $_ensure(10);
 
   /// USS commands
   @$pb.TagNumber(12)
@@ -672,37 +997,37 @@ class ArmCommand extends $pb.GeneratedMessage {
 
   /// Move individual motors
   @$pb.TagNumber(13)
-  $1.MotorCommand get lift => $_getN(12);
+  $0.MotorCommand get lift => $_getN(12);
   @$pb.TagNumber(13)
-  set lift($1.MotorCommand value) => $_setField(13, value);
+  set lift($0.MotorCommand value) => $_setField(13, value);
   @$pb.TagNumber(13)
   $core.bool hasLift() => $_has(12);
   @$pb.TagNumber(13)
   void clearLift() => $_clearField(13);
   @$pb.TagNumber(13)
-  $1.MotorCommand ensureLift() => $_ensure(12);
+  $0.MotorCommand ensureLift() => $_ensure(12);
 
   @$pb.TagNumber(14)
-  $1.MotorCommand get rotate => $_getN(13);
+  $0.MotorCommand get rotate => $_getN(13);
   @$pb.TagNumber(14)
-  set rotate($1.MotorCommand value) => $_setField(14, value);
+  set rotate($0.MotorCommand value) => $_setField(14, value);
   @$pb.TagNumber(14)
   $core.bool hasRotate() => $_has(13);
   @$pb.TagNumber(14)
   void clearRotate() => $_clearField(14);
   @$pb.TagNumber(14)
-  $1.MotorCommand ensureRotate() => $_ensure(13);
+  $0.MotorCommand ensureRotate() => $_ensure(13);
 
   @$pb.TagNumber(15)
-  $1.MotorCommand get pinch => $_getN(14);
+  $0.MotorCommand get pinch => $_getN(14);
   @$pb.TagNumber(15)
-  set pinch($1.MotorCommand value) => $_setField(15, value);
+  set pinch($0.MotorCommand value) => $_setField(15, value);
   @$pb.TagNumber(15)
   $core.bool hasPinch() => $_has(14);
   @$pb.TagNumber(15)
   void clearPinch() => $_clearField(15);
   @$pb.TagNumber(15)
-  $1.MotorCommand ensurePinch() => $_ensure(14);
+  $0.MotorCommand ensurePinch() => $_ensure(14);
 
   /// Custom actions
   @$pb.TagNumber(16)
@@ -751,15 +1076,64 @@ class ArmCommand extends $pb.GeneratedMessage {
   void clearLaserState() => $_clearField(20);
 
   @$pb.TagNumber(21)
-  $1.MotorCommand get roll => $_getN(20);
+  $0.MotorCommand get roll => $_getN(20);
   @$pb.TagNumber(21)
-  set roll($1.MotorCommand value) => $_setField(21, value);
+  set roll($0.MotorCommand value) => $_setField(21, value);
   @$pb.TagNumber(21)
   $core.bool hasRoll() => $_has(20);
   @$pb.TagNumber(21)
   void clearRoll() => $_clearField(21);
   @$pb.TagNumber(21)
-  $1.MotorCommand ensureRoll() => $_ensure(20);
+  $0.MotorCommand ensureRoll() => $_ensure(20);
+
+  @$pb.TagNumber(22)
+  WristCommand get wrist => $_getN(21);
+  @$pb.TagNumber(22)
+  set wrist(WristCommand value) => $_setField(22, value);
+  @$pb.TagNumber(22)
+  $core.bool hasWrist() => $_has(21);
+  @$pb.TagNumber(22)
+  void clearWrist() => $_clearField(22);
+  @$pb.TagNumber(22)
+  WristCommand ensureWrist() => $_ensure(21);
+
+  @$pb.TagNumber(23)
+  $3.BoolState get usingIk => $_getN(22);
+  @$pb.TagNumber(23)
+  set usingIk($3.BoolState value) => $_setField(23, value);
+  @$pb.TagNumber(23)
+  $core.bool hasUsingIk() => $_has(22);
+  @$pb.TagNumber(23)
+  void clearUsingIk() => $_clearField(23);
+
+  @$pb.TagNumber(24)
+  $core.double get ikPitch => $_getN(23);
+  @$pb.TagNumber(24)
+  set ikPitch($core.double value) => $_setFloat(23, value);
+  @$pb.TagNumber(24)
+  $core.bool hasIkPitch() => $_has(23);
+  @$pb.TagNumber(24)
+  void clearIkPitch() => $_clearField(24);
+
+  @$pb.TagNumber(25)
+  $core.double get ikYaw => $_getN(24);
+  @$pb.TagNumber(25)
+  set ikYaw($core.double value) => $_setFloat(24, value);
+  @$pb.TagNumber(25)
+  $core.bool hasIkYaw() => $_has(24);
+  @$pb.TagNumber(25)
+  void clearIkYaw() => $_clearField(25);
+
+  @$pb.TagNumber(26)
+  $2.Pose3d get pose => $_getN(25);
+  @$pb.TagNumber(26)
+  set pose($2.Pose3d value) => $_setField(26, value);
+  @$pb.TagNumber(26)
+  $core.bool hasPose() => $_has(25);
+  @$pb.TagNumber(26)
+  void clearPose() => $_clearField(26);
+  @$pb.TagNumber(26)
+  $2.Pose3d ensurePose() => $_ensure(25);
 }
 
 const $core.bool _omitFieldNames =
diff --git a/burt_network/lib/src/generated/arm.pbjson.dart b/burt_network/lib/src/generated/arm.pbjson.dart
index 8b9cb1fc..8429942f 100644
--- a/burt_network/lib/src/generated/arm.pbjson.dart
+++ b/burt_network/lib/src/generated/arm.pbjson.dart
@@ -55,6 +55,42 @@ final $typed_data.Uint8List jointAngleDataDescriptor = $convert.base64Decode(
     'KAJSCXJvbGxNdWx0aRIqChF3cmlzdF9waXRjaF9tdWx0aRgKIAEoAlIPd3Jpc3RQaXRjaE11bH'
     'Rp');
 
+@$core.Deprecated('Use wristDataDescriptor instead')
+const WristData$json = {
+  '1': 'WristData',
+  '2': [
+    {'1': 'pitch_angle', '3': 1, '4': 1, '5': 2, '10': 'pitchAngle'},
+    {'1': 'roll_angle', '3': 2, '4': 1, '5': 2, '10': 'rollAngle'},
+    {'1': 'motorA', '3': 3, '4': 1, '5': 11, '6': '.MotorData', '10': 'motorA'},
+    {'1': 'motorB', '3': 4, '4': 1, '5': 11, '6': '.MotorData', '10': 'motorB'},
+    {
+      '1': 'is_moving',
+      '3': 5,
+      '4': 1,
+      '5': 14,
+      '6': '.BoolState',
+      '10': 'isMoving'
+    },
+    {
+      '1': 'is_calibrated',
+      '3': 6,
+      '4': 1,
+      '5': 14,
+      '6': '.BoolState',
+      '10': 'isCalibrated'
+    },
+    {'1': 'version', '3': 7, '4': 1, '5': 11, '6': '.Version', '10': 'version'},
+  ],
+};
+
+/// Descriptor for `WristData`. Decode as a `google.protobuf.DescriptorProto`.
+final $typed_data.Uint8List wristDataDescriptor = $convert.base64Decode(
+    'CglXcmlzdERhdGESHwoLcGl0Y2hfYW5nbGUYASABKAJSCnBpdGNoQW5nbGUSHQoKcm9sbF9hbm'
+    'dsZRgCIAEoAlIJcm9sbEFuZ2xlEiIKBm1vdG9yQRgDIAEoCzIKLk1vdG9yRGF0YVIGbW90b3JB'
+    'EiIKBm1vdG9yQhgEIAEoCzIKLk1vdG9yRGF0YVIGbW90b3JCEicKCWlzX21vdmluZxgFIAEoDj'
+    'IKLkJvb2xTdGF0ZVIIaXNNb3ZpbmcSLwoNaXNfY2FsaWJyYXRlZBgGIAEoDjIKLkJvb2xTdGF0'
+    'ZVIMaXNDYWxpYnJhdGVkEiIKB3ZlcnNpb24YByABKAsyCC5WZXJzaW9uUgd2ZXJzaW9u');
+
 @$core.Deprecated('Use armDataDescriptor instead')
 const ArmData$json = {
   '1': 'ArmData',
@@ -67,6 +103,14 @@ const ArmData$json = {
       '6': '.Coordinates',
       '10': 'currentPosition'
     },
+    {
+      '1': 'current_orientation',
+      '3': 17,
+      '4': 1,
+      '5': 11,
+      '6': '.Orientation',
+      '10': 'currentOrientation'
+    },
     {
       '1': 'target_position',
       '3': 2,
@@ -75,6 +119,14 @@ const ArmData$json = {
       '6': '.Coordinates',
       '10': 'targetPosition'
     },
+    {
+      '1': 'target_orientation',
+      '3': 18,
+      '4': 1,
+      '5': 11,
+      '6': '.Orientation',
+      '10': 'targetOrientation'
+    },
     {'1': 'base', '3': 3, '4': 1, '5': 11, '6': '.MotorData', '10': 'base'},
     {
       '1': 'shoulder',
@@ -90,6 +142,7 @@ const ArmData$json = {
     {'1': 'uss_distance', '3': 7, '4': 1, '5': 2, '10': 'ussDistance'},
     {'1': 'lift', '3': 8, '4': 1, '5': 11, '6': '.MotorData', '10': 'lift'},
     {'1': 'rotate', '3': 9, '4': 1, '5': 11, '6': '.MotorData', '10': 'rotate'},
+    {'1': 'wrist', '3': 15, '4': 1, '5': 11, '6': '.WristData', '10': 'wrist'},
     {'1': 'pinch', '3': 10, '4': 1, '5': 11, '6': '.MotorData', '10': 'pinch'},
     {'1': 'servo_angle', '3': 11, '4': 1, '5': 5, '10': 'servoAngle'},
     {
@@ -108,22 +161,59 @@ const ArmData$json = {
       '6': '.JointAngleData',
       '10': 'jointAngles'
     },
+    {
+      '1': 'using_ik',
+      '3': 16,
+      '4': 1,
+      '5': 14,
+      '6': '.BoolState',
+      '10': 'usingIk'
+    },
   ],
 };
 
 /// Descriptor for `ArmData`. Decode as a `google.protobuf.DescriptorProto`.
 final $typed_data.Uint8List armDataDescriptor = $convert.base64Decode(
     'CgdBcm1EYXRhEjcKEGN1cnJlbnRfcG9zaXRpb24YASABKAsyDC5Db29yZGluYXRlc1IPY3Vycm'
-    'VudFBvc2l0aW9uEjUKD3RhcmdldF9wb3NpdGlvbhgCIAEoCzIMLkNvb3JkaW5hdGVzUg50YXJn'
-    'ZXRQb3NpdGlvbhIeCgRiYXNlGAMgASgLMgouTW90b3JEYXRhUgRiYXNlEiYKCHNob3VsZGVyGA'
-    'QgASgLMgouTW90b3JEYXRhUghzaG91bGRlchIgCgVlbGJvdxgFIAEoCzIKLk1vdG9yRGF0YVIF'
-    'ZWxib3cSHgoEcm9sbBgNIAEoCzIKLk1vdG9yRGF0YVIEcm9sbBIiCgd2ZXJzaW9uGAYgASgLMg'
-    'guVmVyc2lvblIHdmVyc2lvbhIhCgx1c3NfZGlzdGFuY2UYByABKAJSC3Vzc0Rpc3RhbmNlEh4K'
-    'BGxpZnQYCCABKAsyCi5Nb3RvckRhdGFSBGxpZnQSIgoGcm90YXRlGAkgASgLMgouTW90b3JEYX'
-    'RhUgZyb3RhdGUSIAoFcGluY2gYCiABKAsyCi5Nb3RvckRhdGFSBXBpbmNoEh8KC3NlcnZvX2Fu'
-    'Z2xlGAsgASgFUgpzZXJ2b0FuZ2xlEisKC2xhc2VyX3N0YXRlGAwgASgOMgouQm9vbFN0YXRlUg'
-    'psYXNlclN0YXRlEjIKDGpvaW50X2FuZ2xlcxgOIAEoCzIPLkpvaW50QW5nbGVEYXRhUgtqb2lu'
-    'dEFuZ2xlcw==');
+    'VudFBvc2l0aW9uEj0KE2N1cnJlbnRfb3JpZW50YXRpb24YESABKAsyDC5PcmllbnRhdGlvblIS'
+    'Y3VycmVudE9yaWVudGF0aW9uEjUKD3RhcmdldF9wb3NpdGlvbhgCIAEoCzIMLkNvb3JkaW5hdG'
+    'VzUg50YXJnZXRQb3NpdGlvbhI7ChJ0YXJnZXRfb3JpZW50YXRpb24YEiABKAsyDC5PcmllbnRh'
+    'dGlvblIRdGFyZ2V0T3JpZW50YXRpb24SHgoEYmFzZRgDIAEoCzIKLk1vdG9yRGF0YVIEYmFzZR'
+    'ImCghzaG91bGRlchgEIAEoCzIKLk1vdG9yRGF0YVIIc2hvdWxkZXISIAoFZWxib3cYBSABKAsy'
+    'Ci5Nb3RvckRhdGFSBWVsYm93Eh4KBHJvbGwYDSABKAsyCi5Nb3RvckRhdGFSBHJvbGwSIgoHdm'
+    'Vyc2lvbhgGIAEoCzIILlZlcnNpb25SB3ZlcnNpb24SIQoMdXNzX2Rpc3RhbmNlGAcgASgCUgt1'
+    'c3NEaXN0YW5jZRIeCgRsaWZ0GAggASgLMgouTW90b3JEYXRhUgRsaWZ0EiIKBnJvdGF0ZRgJIA'
+    'EoCzIKLk1vdG9yRGF0YVIGcm90YXRlEiAKBXdyaXN0GA8gASgLMgouV3Jpc3REYXRhUgV3cmlz'
+    'dBIgCgVwaW5jaBgKIAEoCzIKLk1vdG9yRGF0YVIFcGluY2gSHwoLc2Vydm9fYW5nbGUYCyABKA'
+    'VSCnNlcnZvQW5nbGUSKwoLbGFzZXJfc3RhdGUYDCABKA4yCi5Cb29sU3RhdGVSCmxhc2VyU3Rh'
+    'dGUSMgoMam9pbnRfYW5nbGVzGA4gASgLMg8uSm9pbnRBbmdsZURhdGFSC2pvaW50QW5nbGVzEi'
+    'UKCHVzaW5nX2lrGBAgASgOMgouQm9vbFN0YXRlUgd1c2luZ0lr');
+
+@$core.Deprecated('Use wristCommandDescriptor instead')
+const WristCommand$json = {
+  '1': 'WristCommand',
+  '2': [
+    {'1': 'stop', '3': 1, '4': 1, '5': 8, '10': 'stop'},
+    {'1': 'calibrate', '3': 2, '4': 1, '5': 8, '10': 'calibrate'},
+    {
+      '1': 'pitch',
+      '3': 3,
+      '4': 1,
+      '5': 11,
+      '6': '.MotorCommand',
+      '10': 'pitch'
+    },
+    {'1': 'roll', '3': 4, '4': 1, '5': 11, '6': '.MotorCommand', '10': 'roll'},
+    {'1': 'version', '3': 5, '4': 1, '5': 11, '6': '.Version', '10': 'version'},
+  ],
+};
+
+/// Descriptor for `WristCommand`. Decode as a `google.protobuf.DescriptorProto`.
+final $typed_data.Uint8List wristCommandDescriptor = $convert.base64Decode(
+    'CgxXcmlzdENvbW1hbmQSEgoEc3RvcBgBIAEoCFIEc3RvcBIcCgljYWxpYnJhdGUYAiABKAhSCW'
+    'NhbGlicmF0ZRIjCgVwaXRjaBgDIAEoCzINLk1vdG9yQ29tbWFuZFIFcGl0Y2gSIQoEcm9sbBgE'
+    'IAEoCzINLk1vdG9yQ29tbWFuZFIEcm9sbBIiCgd2ZXJzaW9uGAUgASgLMgguVmVyc2lvblIHdm'
+    'Vyc2lvbg==');
 
 @$core.Deprecated('Use armCommandDescriptor instead')
 const ArmCommand$json = {
@@ -167,6 +257,9 @@ const ArmCommand$json = {
     {'1': 'ik_x', '3': 7, '4': 1, '5': 2, '10': 'ikX'},
     {'1': 'ik_y', '3': 8, '4': 1, '5': 2, '10': 'ikY'},
     {'1': 'ik_z', '3': 9, '4': 1, '5': 2, '10': 'ikZ'},
+    {'1': 'ik_pitch', '3': 24, '4': 1, '5': 2, '10': 'ikPitch'},
+    {'1': 'ik_yaw', '3': 25, '4': 1, '5': 2, '10': 'ikYaw'},
+    {'1': 'pose', '3': 26, '4': 1, '5': 11, '6': '.Pose3d', '10': 'pose'},
     {'1': 'jab', '3': 10, '4': 1, '5': 8, '10': 'jab'},
     {
       '1': 'version',
@@ -193,6 +286,14 @@ const ArmCommand$json = {
       '6': '.MotorCommand',
       '10': 'rotate'
     },
+    {
+      '1': 'wrist',
+      '3': 22,
+      '4': 1,
+      '5': 11,
+      '6': '.WristCommand',
+      '10': 'wrist'
+    },
     {
       '1': 'pinch',
       '3': 15,
@@ -213,6 +314,14 @@ const ArmCommand$json = {
       '6': '.BoolState',
       '10': 'laserState'
     },
+    {
+      '1': 'using_ik',
+      '3': 23,
+      '4': 1,
+      '5': 14,
+      '6': '.BoolState',
+      '10': 'usingIk'
+    },
   ],
 };
 
@@ -223,11 +332,13 @@ final $typed_data.Uint8List armCommandDescriptor = $convert.base64Decode(
     'ZXIYBCABKAsyDS5Nb3RvckNvbW1hbmRSCHNob3VsZGVyEiMKBWVsYm93GAUgASgLMg0uTW90b3'
     'JDb21tYW5kUgVlbGJvdxIhCgRyb2xsGBUgASgLMg0uTW90b3JDb21tYW5kUgRyb2xsEjAKDGdy'
     'aXBwZXJfbGlmdBgGIAEoCzINLk1vdG9yQ29tbWFuZFILZ3JpcHBlckxpZnQSEQoEaWtfeBgHIA'
-    'EoAlIDaWtYEhEKBGlrX3kYCCABKAJSA2lrWRIRCgRpa196GAkgASgCUgNpa1oSEAoDamFiGAog'
-    'ASgIUgNqYWISIgoHdmVyc2lvbhgLIAEoCzIILlZlcnNpb25SB3ZlcnNpb24SJwoJc3RhcnRfdX'
-    'NzGAwgASgOMgouQm9vbFN0YXRlUghzdGFydFVzcxIhCgRsaWZ0GA0gASgLMg0uTW90b3JDb21t'
-    'YW5kUgRsaWZ0EiUKBnJvdGF0ZRgOIAEoCzINLk1vdG9yQ29tbWFuZFIGcm90YXRlEiMKBXBpbm'
-    'NoGA8gASgLMg0uTW90b3JDb21tYW5kUgVwaW5jaBISCgRvcGVuGBAgASgIUgRvcGVuEhQKBWNs'
-    'b3NlGBEgASgIUgVjbG9zZRISCgRzcGluGBIgASgIUgRzcGluEh8KC3NlcnZvX2FuZ2xlGBMgAS'
-    'gFUgpzZXJ2b0FuZ2xlEisKC2xhc2VyX3N0YXRlGBQgASgOMgouQm9vbFN0YXRlUgpsYXNlclN0'
-    'YXRl');
+    'EoAlIDaWtYEhEKBGlrX3kYCCABKAJSA2lrWRIRCgRpa196GAkgASgCUgNpa1oSGQoIaWtfcGl0'
+    'Y2gYGCABKAJSB2lrUGl0Y2gSFQoGaWtfeWF3GBkgASgCUgVpa1lhdxIbCgRwb3NlGBogASgLMg'
+    'cuUG9zZTNkUgRwb3NlEhAKA2phYhgKIAEoCFIDamFiEiIKB3ZlcnNpb24YCyABKAsyCC5WZXJz'
+    'aW9uUgd2ZXJzaW9uEicKCXN0YXJ0X3VzcxgMIAEoDjIKLkJvb2xTdGF0ZVIIc3RhcnRVc3MSIQ'
+    'oEbGlmdBgNIAEoCzINLk1vdG9yQ29tbWFuZFIEbGlmdBIlCgZyb3RhdGUYDiABKAsyDS5Nb3Rv'
+    'ckNvbW1hbmRSBnJvdGF0ZRIjCgV3cmlzdBgWIAEoCzINLldyaXN0Q29tbWFuZFIFd3Jpc3QSIw'
+    'oFcGluY2gYDyABKAsyDS5Nb3RvckNvbW1hbmRSBXBpbmNoEhIKBG9wZW4YECABKAhSBG9wZW4S'
+    'FAoFY2xvc2UYESABKAhSBWNsb3NlEhIKBHNwaW4YEiABKAhSBHNwaW4SHwoLc2Vydm9fYW5nbG'
+    'UYEyABKAVSCnNlcnZvQW5nbGUSKwoLbGFzZXJfc3RhdGUYFCABKA4yCi5Cb29sU3RhdGVSCmxh'
+    'c2VyU3RhdGUSJQoIdXNpbmdfaWsYFyABKA4yCi5Cb29sU3RhdGVSB3VzaW5nSWs=');
diff --git a/burt_network/lib/src/generated/google/protobuf/timestamp.pb.dart b/burt_network/lib/src/generated/google/protobuf/timestamp.pb.dart
new file mode 100644
index 00000000..4f92e8ac
--- /dev/null
+++ b/burt_network/lib/src/generated/google/protobuf/timestamp.pb.dart
@@ -0,0 +1,198 @@
+// This is a generated file - do not edit.
+//
+// Generated from google/protobuf/timestamp.proto.
+
+// @dart = 3.3
+
+// ignore_for_file: annotate_overrides, camel_case_types, comment_references
+// ignore_for_file: constant_identifier_names
+// ignore_for_file: curly_braces_in_flow_control_structures
+// ignore_for_file: deprecated_member_use_from_same_package
+// ignore_for_file: implementation_imports, library_prefixes
+// ignore_for_file: non_constant_identifier_names, prefer_relative_imports
+
+import 'dart:core' as $core;
+
+import 'package:fixnum/fixnum.dart' as $fixnum;
+import 'package:protobuf/protobuf.dart' as $pb;
+import 'package:protobuf/src/protobuf/mixins/well_known.dart' as $mixin;
+
+export 'package:protobuf/protobuf.dart' show GeneratedMessageGenericExtensions;
+
+/// A Timestamp represents a point in time independent of any time zone or local
+/// calendar, encoded as a count of seconds and fractions of seconds at
+/// nanosecond resolution. The count is relative to an epoch at UTC midnight on
+/// January 1, 1970, in the proleptic Gregorian calendar which extends the
+/// Gregorian calendar backwards to year one.
+///
+/// All minutes are 60 seconds long. Leap seconds are "smeared" so that no leap
+/// second table is needed for interpretation, using a [24-hour linear
+/// smear](https://developers.google.com/time/smear).
+///
+/// The range is from 0001-01-01T00:00:00Z to 9999-12-31T23:59:59.999999999Z. By
+/// restricting to that range, we ensure that we can convert to and from [RFC
+/// 3339](https://www.ietf.org/rfc/rfc3339.txt) date strings.
+///
+/// # Examples
+///
+/// Example 1: Compute Timestamp from POSIX `time()`.
+///
+///     Timestamp timestamp;
+///     timestamp.set_seconds(time(NULL));
+///     timestamp.set_nanos(0);
+///
+/// Example 2: Compute Timestamp from POSIX `gettimeofday()`.
+///
+///     struct timeval tv;
+///     gettimeofday(&tv, NULL);
+///
+///     Timestamp timestamp;
+///     timestamp.set_seconds(tv.tv_sec);
+///     timestamp.set_nanos(tv.tv_usec * 1000);
+///
+/// Example 3: Compute Timestamp from Win32 `GetSystemTimeAsFileTime()`.
+///
+///     FILETIME ft;
+///     GetSystemTimeAsFileTime(&ft);
+///     UINT64 ticks = (((UINT64)ft.dwHighDateTime) << 32) | ft.dwLowDateTime;
+///
+///     // A Windows tick is 100 nanoseconds. Windows epoch 1601-01-01T00:00:00Z
+///     // is 11644473600 seconds before Unix epoch 1970-01-01T00:00:00Z.
+///     Timestamp timestamp;
+///     timestamp.set_seconds((INT64) ((ticks / 10000000) - 11644473600LL));
+///     timestamp.set_nanos((INT32) ((ticks % 10000000) * 100));
+///
+/// Example 4: Compute Timestamp from Java `System.currentTimeMillis()`.
+///
+///     long millis = System.currentTimeMillis();
+///
+///     Timestamp timestamp = Timestamp.newBuilder().setSeconds(millis / 1000)
+///         .setNanos((int) ((millis % 1000) * 1000000)).build();
+///
+/// Example 5: Compute Timestamp from Java `Instant.now()`.
+///
+///     Instant now = Instant.now();
+///
+///     Timestamp timestamp =
+///         Timestamp.newBuilder().setSeconds(now.getEpochSecond())
+///             .setNanos(now.getNano()).build();
+///
+/// Example 6: Compute Timestamp from current time in Python.
+///
+///     timestamp = Timestamp()
+///     timestamp.GetCurrentTime()
+///
+/// # JSON Mapping
+///
+/// In JSON format, the Timestamp type is encoded as a string in the
+/// [RFC 3339](https://www.ietf.org/rfc/rfc3339.txt) format. That is, the
+/// format is "{year}-{month}-{day}T{hour}:{min}:{sec}[.{frac_sec}]Z"
+/// where {year} is always expressed using four digits while {month}, {day},
+/// {hour}, {min}, and {sec} are zero-padded to two digits each. The fractional
+/// seconds, which can go up to 9 digits (i.e. up to 1 nanosecond resolution),
+/// are optional. The "Z" suffix indicates the timezone ("UTC"); the timezone
+/// is required. A proto3 JSON serializer should always use UTC (as indicated by
+/// "Z") when printing the Timestamp type and a proto3 JSON parser should be
+/// able to accept both UTC and other timezones (as indicated by an offset).
+///
+/// For example, "2017-01-15T01:30:15.01Z" encodes 15.01 seconds past
+/// 01:30 UTC on January 15, 2017.
+///
+/// In JavaScript, one can convert a Date object to this format using the
+/// standard
+/// [toISOString()](https://developer.mozilla.org/en-US/docs/Web/JavaScript/Reference/Global_Objects/Date/toISOString)
+/// method. In Python, a standard `datetime.datetime` object can be converted
+/// to this format using
+/// [`strftime`](https://docs.python.org/2/library/time.html#time.strftime) with
+/// the time format spec '%Y-%m-%dT%H:%M:%S.%fZ'. Likewise, in Java, one can use
+/// the Joda Time's [`ISODateTimeFormat.dateTime()`](
+/// http://joda-time.sourceforge.net/apidocs/org/joda/time/format/ISODateTimeFormat.html#dateTime()
+/// ) to obtain a formatter capable of generating timestamps in this format.
+class Timestamp extends $pb.GeneratedMessage with $mixin.TimestampMixin {
+  factory Timestamp({
+    $fixnum.Int64? seconds,
+    $core.int? nanos,
+  }) {
+    final result = create();
+    if (seconds != null) result.seconds = seconds;
+    if (nanos != null) result.nanos = nanos;
+    return result;
+  }
+
+  Timestamp._();
+
+  factory Timestamp.fromBuffer($core.List<$core.int> data,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromBuffer(data, registry);
+  factory Timestamp.fromJson($core.String json,
+          [$pb.ExtensionRegistry registry = $pb.ExtensionRegistry.EMPTY]) =>
+      create()..mergeFromJson(json, registry);
+
+  static final $pb.BuilderInfo _i = $pb.BuilderInfo(
+      _omitMessageNames ? '' : 'Timestamp',
+      package:
+          const $pb.PackageName(_omitMessageNames ? '' : 'google.protobuf'),
+      createEmptyInstance: create,
+      wellKnownType: $mixin.WellKnownType.timestamp)
+    ..aInt64(1, _omitFieldNames ? '' : 'seconds')
+    ..aI(2, _omitFieldNames ? '' : 'nanos')
+    ..hasRequiredFields = false;
+
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  Timestamp clone() => deepCopy();
+  @$core.Deprecated('See https://github.com/google/protobuf.dart/issues/998.')
+  Timestamp copyWith(void Function(Timestamp) updates) =>
+      super.copyWith((message) => updates(message as Timestamp)) as Timestamp;
+
+  @$core.override
+  $pb.BuilderInfo get info_ => _i;
+
+  @$core.pragma('dart2js:noInline')
+  static Timestamp create() => Timestamp._();
+  @$core.override
+  Timestamp createEmptyInstance() => create();
+  @$core.pragma('dart2js:noInline')
+  static Timestamp getDefault() =>
+      _defaultInstance ??= $pb.GeneratedMessage.$_defaultFor<Timestamp>(create);
+  static Timestamp? _defaultInstance;
+
+  /// Represents seconds of UTC time since Unix epoch 1970-01-01T00:00:00Z. Must
+  /// be between -315576000000 and 315576000000 inclusive (which corresponds to
+  /// 0001-01-01T00:00:00Z to 9999-12-31T23:59:59Z).
+  @$pb.TagNumber(1)
+  $fixnum.Int64 get seconds => $_getI64(0);
+  @$pb.TagNumber(1)
+  set seconds($fixnum.Int64 value) => $_setInt64(0, value);
+  @$pb.TagNumber(1)
+  $core.bool hasSeconds() => $_has(0);
+  @$pb.TagNumber(1)
+  void clearSeconds() => $_clearField(1);
+
+  /// Non-negative fractions of a second at nanosecond resolution. This field is
+  /// the nanosecond portion of the duration, not an alternative to seconds.
+  /// Negative second values with fractions must still have non-negative nanos
+  /// values that count forward in time. Must be between 0 and 999,999,999
+  /// inclusive.
+  @$pb.TagNumber(2)
+  $core.int get nanos => $_getIZ(1);
+  @$pb.TagNumber(2)
+  set nanos($core.int value) => $_setSignedInt32(1, value);
+  @$pb.TagNumber(2)
+  $core.bool hasNanos() => $_has(1);
+  @$pb.TagNumber(2)
+  void clearNanos() => $_clearField(2);
+
+  /// Creates a new instance from [dateTime].
+  ///
+  /// Time zone information will not be preserved.
+  static Timestamp fromDateTime($core.DateTime dateTime) {
+    final result = create();
+    $mixin.TimestampMixin.setFromDateTime(result, dateTime);
+    return result;
+  }
+}
+
+const $core.bool _omitFieldNames =
+    $core.bool.fromEnvironment('protobuf.omit_field_names');
+const $core.bool _omitMessageNames =
+    $core.bool.fromEnvironment('protobuf.omit_message_names');
diff --git a/burt_network/lib/src/generated/google/protobuf/timestamp.pbenum.dart b/burt_network/lib/src/generated/google/protobuf/timestamp.pbenum.dart
new file mode 100644
index 00000000..cdbd00bc
--- /dev/null
+++ b/burt_network/lib/src/generated/google/protobuf/timestamp.pbenum.dart
@@ -0,0 +1,11 @@
+// This is a generated file - do not edit.
+//
+// Generated from google/protobuf/timestamp.proto.
+
+// @dart = 3.3
+
+// ignore_for_file: annotate_overrides, camel_case_types, comment_references
+// ignore_for_file: constant_identifier_names
+// ignore_for_file: curly_braces_in_flow_control_structures
+// ignore_for_file: deprecated_member_use_from_same_package, library_prefixes
+// ignore_for_file: non_constant_identifier_names, prefer_relative_imports
diff --git a/burt_network/lib/src/generated/google/protobuf/timestamp.pbjson.dart b/burt_network/lib/src/generated/google/protobuf/timestamp.pbjson.dart
new file mode 100644
index 00000000..739dd55a
--- /dev/null
+++ b/burt_network/lib/src/generated/google/protobuf/timestamp.pbjson.dart
@@ -0,0 +1,30 @@
+// This is a generated file - do not edit.
+//
+// Generated from google/protobuf/timestamp.proto.
+
+// @dart = 3.3
+
+// ignore_for_file: annotate_overrides, camel_case_types, comment_references
+// ignore_for_file: constant_identifier_names
+// ignore_for_file: curly_braces_in_flow_control_structures
+// ignore_for_file: deprecated_member_use_from_same_package, library_prefixes
+// ignore_for_file: non_constant_identifier_names, prefer_relative_imports
+// ignore_for_file: unused_import
+
+import 'dart:convert' as $convert;
+import 'dart:core' as $core;
+import 'dart:typed_data' as $typed_data;
+
+@$core.Deprecated('Use timestampDescriptor instead')
+const Timestamp$json = {
+  '1': 'Timestamp',
+  '2': [
+    {'1': 'seconds', '3': 1, '4': 1, '5': 3, '10': 'seconds'},
+    {'1': 'nanos', '3': 2, '4': 1, '5': 5, '10': 'nanos'},
+  ],
+};
+
+/// Descriptor for `Timestamp`. Decode as a `google.protobuf.DescriptorProto`.
+final $typed_data.Uint8List timestampDescriptor = $convert.base64Decode(
+    'CglUaW1lc3RhbXASGAoHc2Vjb25kcxgBIAEoA1IHc2Vjb25kcxIUCgVuYW5vcxgCIAEoBVIFbm'
+    'Fub3M=');
diff --git a/burt_network/lib/src/generated/video.pbenum.dart b/burt_network/lib/src/generated/video.pbenum.dart
index a6d716ac..810f2c08 100644
--- a/burt_network/lib/src/generated/video.pbenum.dart
+++ b/burt_network/lib/src/generated/video.pbenum.dart
@@ -70,6 +70,12 @@ class CameraName extends $pb.ProtobufEnum {
       CameraName._(7, _omitEnumNames ? '' : 'BOTTOM_LEFT');
   static const CameraName BOTTOM_RIGHT =
       CameraName._(8, _omitEnumNames ? '' : 'BOTTOM_RIGHT');
+  static const CameraName ARM_LEFT =
+      CameraName._(9, _omitEnumNames ? '' : 'ARM_LEFT');
+  static const CameraName ARM_RIGHT =
+      CameraName._(10, _omitEnumNames ? '' : 'ARM_RIGHT');
+  static const CameraName GAP_CAM =
+      CameraName._(11, _omitEnumNames ? '' : 'GAP_CAM');
 
   static const $core.List<CameraName> values = <CameraName>[
     CAMERA_NAME_UNDEFINED,
@@ -81,10 +87,13 @@ class CameraName extends $pb.ProtobufEnum {
     SUBSYSTEM3,
     BOTTOM_LEFT,
     BOTTOM_RIGHT,
+    ARM_LEFT,
+    ARM_RIGHT,
+    GAP_CAM,
   ];
 
   static final $core.List<CameraName?> _byValue =
-      $pb.ProtobufEnum.$_initByValueList(values, 8);
+      $pb.ProtobufEnum.$_initByValueList(values, 11);
   static CameraName? valueOf($core.int value) =>
       value < 0 || value >= _byValue.length ? null : _byValue[value];
 
diff --git a/burt_network/lib/src/generated/video.pbjson.dart b/burt_network/lib/src/generated/video.pbjson.dart
index a32c2b59..a6a1da8f 100644
--- a/burt_network/lib/src/generated/video.pbjson.dart
+++ b/burt_network/lib/src/generated/video.pbjson.dart
@@ -50,6 +50,9 @@ const CameraName$json = {
     {'1': 'SUBSYSTEM3', '2': 6},
     {'1': 'BOTTOM_LEFT', '2': 7},
     {'1': 'BOTTOM_RIGHT', '2': 8},
+    {'1': 'ARM_LEFT', '2': 9},
+    {'1': 'ARM_RIGHT', '2': 10},
+    {'1': 'GAP_CAM', '2': 11},
   ],
 };
 
@@ -58,7 +61,7 @@ final $typed_data.Uint8List cameraNameDescriptor = $convert.base64Decode(
     'CgpDYW1lcmFOYW1lEhkKFUNBTUVSQV9OQU1FX1VOREVGSU5FRBAAEg8KC1JPVkVSX0ZST05UEA'
     'ESDgoKUk9WRVJfUkVBUhACEhIKDkFVVE9OT01ZX0RFUFRIEAMSDgoKU1VCU1lTVEVNMRAEEg4K'
     'ClNVQlNZU1RFTTIQBRIOCgpTVUJTWVNURU0zEAYSDwoLQk9UVE9NX0xFRlQQBxIQCgxCT1RUT0'
-    '1fUklHSFQQCA==');
+    '1fUklHSFQQCBIMCghBUk1fTEVGVBAJEg0KCUFSTV9SSUdIVBAKEgsKB0dBUF9DQU0QCw==');
 
 @$core.Deprecated('Use cameraDetailsDescriptor instead')
 const CameraDetails$json = {
diff --git a/pubspec.yaml b/pubspec.yaml
index f58ebf22..eba815eb 100644
--- a/pubspec.yaml
+++ b/pubspec.yaml
@@ -4,6 +4,7 @@ environment:
   sdk: ^3.9.0
 
 workspace:
+  - arm_auxillary
   - autonomy
   - burt_network
   - subsystems
diff --git a/subsystems/lib/src/devices/firmware.dart b/subsystems/lib/src/devices/firmware.dart
index 599f4bc0..de543eac 100644
--- a/subsystems/lib/src/devices/firmware.dart
+++ b/subsystems/lib/src/devices/firmware.dart
@@ -5,8 +5,6 @@ import "package:collection/collection.dart";
 import "package:subsystems/subsystems.dart";
 import "package:burt_network/burt_network.dart";
 
-import "serial_utils.dart";
-
 /// Maps command names to [Device]s.
 final nameToDevice = <String, Device>{
   ArmCommand().messageName: Device.ARM,
diff --git a/subsystems/lib/subsystems.dart b/subsystems/lib/subsystems.dart
index ce023b35..1729d498 100644
--- a/subsystems/lib/subsystems.dart
+++ b/subsystems/lib/subsystems.dart
@@ -9,6 +9,7 @@ import "src/devices/firmware.dart";
 export "src/devices/firmware.dart";
 export "src/devices/imu.dart";
 export "src/devices/gps.dart";
+export "src/devices/serial_utils.dart";
 
 export "src/can/ffi.dart";
 export "src/can/message.dart";